Hull cleaning robot

Abstract

This application relates to a ship bottom rust removal robot, and its cleaner includes: a cleaning frame; a first floating ring and two second floating rings, both of which are elastically and floatingly installed on the cleaning frame; a cleaning ring coaxially installed on the first floating ring, and a plurality of scraping blades are fixedly connected thereto; when the universal rollers contact the ship bottom wall surface, the cutting edges of the scraping blades are elastically pressed against the ship bottom wall surface; a polishing ring coaxially installed on the second floating ring, and the polishing ring is located on the side of the cleaning ring facing away from the traveling direction of the cleaning frame, and the cleaning ring and the two polishing rings are arranged in a "pin" shape; a driving device for driving the cleaning ring and the two polishing rings to rotate; a high-pressure water gun, whose water outlet is located in the hollow part of the cleaning ring; a drying air gun, whose air outlet is located in the hollow part of the polishing ring. This application can simultaneously perform operations such as attachment cleaning, rust removal, polishing, and anti-rust return prevention, and the cleaning ring and the polishing ring perform adaptive floating and flipping on the cleaning frame to better fit the curved surface of the ship bottom wall and reduce damage to the ship bottom wall surface.

Description

Technical Field

[0001] This application relates to the technical field of ship maintenance equipment, and in particular to a rust removal robot for ship bottoms. Background Technology

[0002] Ships are a general term for all types of vessels, referring to means of transportation that can navigate or anchor in waterways for transport or operations. Dry dock repair refers to the repair work performed in a dry dock on the hull structure below the waterline, propulsion systems, and other components or equipment that cannot be repaired while the ship is afloat. It is a crucial task, and rust removal is an essential step in dry dock repair. However, with the continuous increase in ship displacement, ordinary manual rust removal is no longer sufficient for dry dock repair requirements. Introducing robotic rust removal can greatly improve work efficiency and, to a certain extent, improve the quality of rust removal.

[0003] For example, Chinese patent application CN201910972152.0 discloses a ship bottom rust removal robot, including a vehicle chassis, a tracked walking mechanism, and a working arm assembly. The working arm assembly includes a relatively telescopic main arm and telescopic arm, a rotating arm, a cleaning arm and a cleaner, and corresponding multiple hydraulic cylinders. The hydraulic control mechanism includes a two-position four-way solenoid directional valve, a two-position four-way solenoid unloading valve, and three-position four-way solenoid directional valves matched to each cylinder of the working arm assembly. The working arm assembly allows for convenient adjustment and control of each cylinder via the hydraulic control mechanism, enabling adjustment of the cleaner's height and angle while maintaining relatively stable posture. Combined with the corresponding hydraulic system, walking system, and wireless remote control system, it can move freely within a limited space.

[0004] However, after ships have been at sea for a certain period of time, not only will they suffer from corrosion from seawater salt, leading to rust spots on their hulls, but they will also accumulate a large number of marine organisms such as barnacles. Before rust removal operations, these deposits also need to be cleaned. However, the hull is mostly curved, and the curvature varies, making it easy to damage the hull's base layer when simultaneously cleaning deposits and removing rust. Therefore, there is a need to develop a robot capable of simultaneously cleaning deposits and removing rust from the hull, while minimizing damage to the hull. Summary of the Invention

[0005] In order to simultaneously clean and remove rust from the ship's bottom while minimizing damage to the bottom, this application provides a ship bottom rust removal robot.

[0006] The rust removal robot for ship bottoms provided in this application adopts the following technical solution:

[0007] A ship hull rust removal robot includes a vehicle chassis, a working arm, and a cleaner, wherein the cleaner includes:

[0008] The cleaning rack is installed with at least three universal rollers on the side facing away from the working arm;

[0009] The first floating ring and two second floating rings are all elastically and floatingly installed on the cleaning rack, and the outer diameter of the first floating ring is larger than the outer diameter of the second floating ring;

[0010] The cleaning ring is coaxially installed on the first floating ring, and a plurality of scraping blades are fixedly connected to the side of the cleaning ring facing away from the first floating ring; 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;

[0011] The polishing ring is coaxially installed on the second floating ring, and the polishing ring is located on the side of the cleaning ring facing away from the advancing direction of the cleaning rack. The cleaning ring and the two polishing rings are arranged in a "pin" shape;

[0012] The driving device is used to drive the cleaning ring and the two polishing rings to rotate;

[0013] The high-pressure water gun is installed on the cleaning rack, and its water outlet is located in the hollow part of the cleaning ring;

[0014] The drying air gun is installed on the cleaning rack, and its air outlet is located in the hollow part of the polishing ring.

[0015] Furthermore, it further includes:

[0016] The limiting cylinder is fixedly connected to the cleaning rack, there are three of them and they correspond to the first floating ring and the two second floating rings one by one;

[0017] The 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 slidably fitted with the inner peripheral wall of the limiting cylinder. The side of the slip ring close to the limiting cylinder is set as an arc surface;

[0018] A plurality of elastic components are arranged in an equidistant circumferential array between the first floating ring and the cleaning rack and between the second floating ring and the cleaning rack.

[0019] Furthermore, the elastic component includes:

[0020] The sliding rod penetrates through the cleaning rack;

[0021] The ball sleeve is fixedly connected to the free end of the sliding rod;

[0022] The rolling ball is embedded in the ball sleeve;

[0023] The floating spring is sleeved outside the sliding rod, and its two ends are respectively abutted against the ball sleeve and the cleaning rack.

[0024] Furthermore, an annular anti-detachment baffle is fixedly connected to the side of the limiting cylinder away from the cleaning frame. The inner diameter of the anti-detachment baffle is larger than the outer diameter of the first float ring or the second float ring. Alternatively, annular grooves are formed on the outer peripheral walls of the arc surfaces of the first float ring and the second float ring. The width of the annular groove is more than three times the wall thickness of the anti-detachment baffle. The inner ring of the anti-detachment baffle is embedded in the annular groove and is spaced apart from the bottom wall of the annular groove.

[0025] Furthermore, the inner wall of the anti-detachment baffle extending into the annular groove is fixed with a sealing rubber ring.

[0026] Furthermore, the driving device includes:

[0027] A drive disc is rotatably mounted on the cleaning rack, and a power motor for driving the drive disc to rotate is installed on the cleaning rack;

[0028] The drive column is provided in a plurality of circumferential arrays at equal intervals and is fixed to the edge of the drive disk. The drive column is parallel to the axis of the drive disk.

[0029] The transmission columns are provided in a circumferential array with equal spacing and fixed to the outer peripheral wall of the arc surface of the first or second floating ring. The gap between two adjacent transmission columns is greater than the outer diameter of the drive column. The transmission columns are arranged radially along the first or second floating ring.

[0030] The drive column and transmission column are orthogonally arranged, and when the drive disk rotates, it drives the first floating ring and two second floating rings to rotate simultaneously through multiple drive columns and multiple transmission columns. The length of the drive column is greater than the maximum axial offset stroke of the first floating ring and the second floating ring.

[0031] Furthermore, a triangular pyramid is fixed to the free end of the transmission column on the first floating ring, and the edges of the triangular pyramid are rounded; or, when the transmission column on the first floating ring is in transmission with the drive column, the triangular pyramid does not contact the drive column.

[0032] Furthermore, a fixed shaft is fixedly connected to the cleaning frame, a sleeve is sleeved on the fixed shaft, the high-pressure water gun is installed on the sleeve, a connecting rod is fixedly connected to the side of the sleeve facing away from the grinding ring, and a moving plate corresponding to the extension of a plurality of sliding rods to one end of the back of the cleaning frame is fixedly connected to the free end of the connecting rod.

[0033] When the cleaning ring floats axially on the side away from the grinding ring on the cleaning frame, the cleaning ring pushes the corresponding slide bar to cause the synchronous plate to rotate the sleeve, so that the high-pressure water gun forms a sweeping cleaning synchronized with the floating state of the cleaning ring.

[0034] Furthermore, a torsion spring is sleeved on the fixed shaft, with one end of the torsion spring fixedly connected to the sleeve and the other end fixedly connected to the fixed shaft.

[0035] Furthermore, the cleaning frame has a first mounting port and a second mounting port corresponding to the first float ring and the second float ring. A water-proof rubber sleeve is fixed inside the first mounting port of the cleaning frame, and the water-proof rubber sleeve is located between the inner peripheral wall of the first float ring and the high-pressure water gun.

[0036] In summary, the beneficial technical effects of this application are as follows:

[0037] 1. The drive device simultaneously drives the cleaning ring and two grinding rings to rotate. When 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 strip-shaped high-pressure jets into the hollow area of ​​the cleaning ring. This can remove and clean the residual attachments, and also remove rust with the impact force of the high-pressure jets. In other words, the rust removal robot of this application can perform attachment cleaning and rust removal operations at the same time, which can greatly improve the efficiency of ship maintenance operations.

[0038] 2. As the two grinding wheels rotate, they further grind the rust-removed bottom wall surface, facilitating subsequent painting and maintenance processes. Furthermore, the compressed air / hot air sprayed from the drying gun quickly dries the rust-removed bottom wall surface, preventing it from rusting back up quickly. The two second floating rings allow the grinding rings to operate at higher speeds and cover a larger grinding area. Alternatively, different grinding rings can be added to meet different work requirements, and the working arm controls the cleaning frame to swing forward around the central axis of the cleaning ring as it moves forward, enabling multiple grinding operations to be performed simultaneously. In other words, the rust removal robot of this application can also perform grinding and rust prevention operations simultaneously.

[0039] 3. The arrangement of multiple elastic components enables the first and second floating rings to float on the cleaning rack. The ball bearings in the elastic components are designed to achieve a multi-directional elastic floating effect for the first and second floating rings without interfering with their rotation in the floating state, thus ensuring the multi-directional floating and rotation effect of the first and second floating rings. Furthermore, the cleaning ring and the polishing ring can adaptively float and flip under the elastic deformation force of their respective multiple floating springs, so as to better fit the curved surface of the ship's bottom wall, ensuring the cleaning and polishing effect and reducing damage to the ship's bottom wall.

[0040] 4. The slip ring and the sealing ring form the two fulcrums for the first and second floating rings to float and rotate in the limiting cylinder. The slip ring mainly serves as rotational lubrication and floating support; the sealing ring is elastic and can be rotated axially along the inner ring of the anti-detachment baffle, mainly serving as a movable seal and floating damping function. It can reduce the unnecessary floating amount 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 protrusions of attached substances, thus ensuring the cleaning effect of the cleaning ring and the grinding effect of the grinding ring.

[0041] 5. Multiple drive posts, through the meshing transmission effect with multiple transmission posts on the first float ring and the two second float rings, can simultaneously drive the first float ring and the two second float rings to rotate. Even if the first and second float rings float and deflect during rotation, the longer drive posts can stably mesh into the gaps between the multiple transmission posts to achieve a floating drive effect. Furthermore, due to the large gaps between adjacent drive posts and adjacent transmission posts, even if sewage and debris splash during high-pressure jet flushing, it will not significantly interfere with the meshing transmission between the drive posts and transmission posts. Compared to conventional gear meshing and universal joint drives, this transmission method can be applied in harsh environments.

[0042] 6. By setting 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 rotates under the drive of the drive disc, 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 jumping of the cleaning ring and ensure the cleaning effect of the cleaning ring.

[0043] 7. By hinged the high-pressure water gun to a fixed shaft and setting a synchronous plate that cooperates with multiple sliding rods on the front side of the cleaning frame, when the side of the cleaning ring away from the grinding ring floats axially on the cleaning frame, 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 synchronized with the floating state of the cleaning ring, reducing the damage to the bottom wall caused by local long-term high-pressure jet flushing. Attached Figure Description

[0044] Figure 1 This is a side view of the overall structure of an embodiment of this application;

[0045] Figure 2 This is a schematic diagram of the overall structure of the cleaner according to an embodiment of this application;

[0046] Figure 3 This is a top view of the overall structure of the cleaner according to an embodiment of this application;

[0047] Figure 4 This is a partial cross-sectional view of the cleaner according to an embodiment of this application;

[0048] Figure 5 yes Figure 4 A magnified view of part A in the middle;

[0049] Figure 6 This is a schematic diagram of the structure of the elastic component according to an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of the structure of the transmission column on the first floating ring according to an embodiment of this application;

[0051] Figure 8 This is a schematic diagram of the overall structure of the cleaner according to another perspective of an embodiment of this application.

[0052] Explanation of reference numerals in the attached figures:

[0053] 11. Chassis; 12. Working arm; 13. Washer;

[0054] 2. Cleaning rack; 21. Universal casters; 24. Waterproof rubber sleeve;

[0055] 31. First floating ring; 32. Second floating ring; 33. Annular groove;

[0056] 4. Cleaning ring; 41. Scraper;

[0057] 5. Grinding ring;

[0058] 61. High-pressure water gun; 62. Drying air gun;

[0059] 71. Limiting cylinder; 72. Slip ring; 73. Sliding rod; 74. Ball sleeve; 75. Rolling ball; 76. Floating spring; 77. Anti-detachment baffle; 78. Sealing ring; 781. Edge sealing;

[0060] 81. Drive disc; 82. Power motor; 83. Drive column; 84. Transmission column; 85. Triangular pyramid;

[0061] 91. Fixed shaft; 92. Sleeve; 93. Connecting rod; 94. Moving plate; 95. Torsion spring. Detailed Implementation

[0062] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] This application discloses a rust removal robot for ship hulls. (Refer to...) Figure 1 , Figure 2 and Figure 3, which includes a vehicle chassis 11, a working arm 12, and a washer 13. The vehicle chassis 11 can be a wheeled or crawler chassis 11. Among them, the vehicle chassis 11, the working arm 12, and the connection method between the working arm 12 and the washer 13 are all prior arts, and those skilled in the art can fully implement them without further elaboration.

[0064] The washer 13 includes:

[0065] A cleaning frame 2, on the side facing away from the working arm 12, at least three universal rollers 21 are installed.

[0066] A first floating ring 31 and two second floating rings 32 are both elastically and floatingly installed on the cleaning frame 2, and the outer diameter of the first floating ring 31 is larger than the outer diameter of the second floating ring 32; on the cleaning frame 2, there are first mounting openings and second mounting openings corresponding to the first floating ring 31 and the second floating ring 32.

[0067] A cleaning ring 4, which is a disk-shaped with a hollow middle and is coaxially installed on the first floating ring 31. On the side facing away from the first floating ring 31, a plurality of scraping blades 41 are fixedly connected; when the universal rollers 21 contact the bottom wall of the ship, the cutting edges of the scraping blades 41 are elastically pressed against the bottom wall of the ship.

[0068] 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 of the cleaning ring 4 opposite to the traveling direction of the cleaning frame 2. The cleaning ring 4 and the two grinding rings 5 are arranged in a "pin" shape, and the cleaning ring 4 is bolted to the first floating ring 31 and the grinding ring 5 is bolted to the second floating ring 32 for convenient replacement according to the operation requirements.

[0069] 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.

[0070] A high-pressure water gun 61 is installed on the cleaning frame 2, and its water outlet is located in the hollow part of the cleaning ring 4. Its water outlet direction is straight or oblique towards the bottom wall of the ship, and the strip-shaped high-pressure jet it sprays is arranged radially along the cleaning ring 4.

[0071] A drying air gun 62 is installed on the cleaning frame 2, and its air outlet is located in the hollow part of the grinding ring 5. The drying air gun 62 is specifically a rotating spray gun, which can deliver cold air, normal temperature air or hot air as needed to perform rotary spray air drying on the bottom wall of the ship after high-pressure water flushing to avoid short-term rust return.

[0072] Therefore, when a vessel awaiting repair enters the dry dock, the rust removal robot of this application moves to the work area via the vehicle chassis 11, and then the cleaning device 13 is lifted to the bottom wall of the vessel via the working arm 12. Multiple omnidirectional rollers 21 on the cleaning frame 2 are then attached to the bottom wall. As the vehicle chassis 11 moves forward, the drive unit simultaneously drives the cleaning ring 4 and the two grinding rings 5 ​​to rotate. While the cleaning ring 4 rotates, multiple scrapers 41 on it remove barnacles and other attachments adhering to the bottom wall. Simultaneously, a high-pressure water gun 61 sprays strip-shaped high-pressure jets into the hollow area of ​​the cleaning ring 4. This not only removes and cleans residual attachments but also removes rust using the impact force of the high-pressure jets. In other words, the rust removal robot of this application can simultaneously perform attachment cleaning and rust removal operations, greatly improving the efficiency of ship repair operations.

[0073] Furthermore, the two grinding wheels located at the rear further grind the rust-removed bottom wall surface as they rotate, facilitating subsequent painting and maintenance processes. The compressed air / hot air sprayed from the drying gun 62 can quickly dry the rust-removed bottom wall surface, preventing the damp bottom wall from rusting again in a short time. The two second floating rings 32 allow 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 around the central axis of the cleaning ring 4, enabling multiple grinding operations to be performed simultaneously.

[0074] Moreover, during this process, since the cleaning ring 4 and the polishing ring 5 achieve elastic floating rotation on the cleaning frame 2 through the first floating ring 31 and the second floating ring 32 respectively, the cleaning ring 4 and the polishing ring 5 can adaptively conform to the bottom wall surface with different curvatures during the operation, resulting in higher work efficiency and less damage to the curved bottom wall surface.

[0075] In order to achieve the floating setting of the first floating ring 31 and the second floating ring 32 on the cleaning rack 2, specifically...

[0076] Reference Figure 2 , Figure 4 and Figure 5 The rust removal robot for ship bottoms also includes:

[0077] The limiting cylinder 71 is fixed to the cleaning frame 2 and embedded in the first mounting port or the second mounting port. There are three of them, which correspond one-to-one with the first floating ring 31 and the two second floating rings 32.

[0078] The slip ring 72 is coaxially fixed to the outer peripheral wall of the arc surface of the first float ring 31 or the second float ring 32, and slides against the inner peripheral wall of the limiting cylinder 71. The side of the slip ring 72 closest to the limiting cylinder 71 is set as an arc 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 being set as an arc surface or a hemispherical surface can ensure that the first float ring 31 and the second float ring 32 can smoothly float and swing in the corresponding limiting cylinder 71, avoiding jamming.

[0079] The elastic components are arranged in a plurality of equally spaced circular arrays between the first floating ring 31 and the cleaning frame 2, and between the second floating ring 32 and the cleaning frame 2. Specifically, refer to... Figure 4 , Figure 5 and Figure 6 The resilient components include:

[0080] The slide bar 73 is installed through the cleaning rack 2;

[0081] The ball sleeve 74 is fixedly connected to the free end of the sliding rod 73;

[0082] The rolling ball 75 is embedded in the ball sleeve 74 and is used to make rolling contact with the corresponding first floating ring 31 and second floating ring 32.

[0083] The floating spring 76 is sleeved on the outside of the slide rod 73, and its two ends are respectively abutted 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.

[0084] In addition, an annular anti-detachment baffle 77 is fixedly connected to the side of the limiting cylinder 71 away from the cleaning frame 2. The inner diameter of the anti-detachment 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 formed on the outer peripheral wall of the arc surface of the first floating ring 31 and the second floating ring 32. The groove width of the annular groove 33 is more than three times the wall thickness of the anti-detachment baffle 77. The inner ring of the anti-detachment baffle 77 is embedded in the annular groove 33 and is spaced apart from the bottom wall of the annular groove 33. A sealing ring 78 is fixedly connected to the inner ring wall of the anti-detachment baffle 77 that extends into the annular groove 33. The sealing ring 78 is made of high-elasticity weather-resistant rubber, which can deform under pressure and can be axially deflected to ensure that the first floating ring 31 and the second floating ring 32 can still provide a good sealing effect when floating. For example, the sealing ring 78 has an integrally formed sealing edge 781 that is embedded in the upper and lower end faces of the inner ring of the anti-detachment baffle 77. The sealing edge 781 is fixed to the anti-detachment baffle 77.

[0085] In this embodiment, the anti-detachment baffle 77 is set with the first floating ring 31 and the second floating ring 32 having the ring groove 33 as an example. However, it cannot be used as the basis for determining the essential features of the technical problem claimed to be solved in this application. It is just an example.

[0086] Therefore, when the cleaning rack 2 encounters a curved surface while traveling along the bottom wall 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 bottom wall, ensure the cleaning and polishing effect, and reduce damage to the bottom wall.

[0087] The limiting cylinder 71 and the annular anti-detachment baffle 77 are designed to prevent the first floating ring 31 and the second floating ring 32 from detaching from the cleaning frame 2; the slip ring 72 is designed to enable the first floating ring 31 and the second floating ring 32 to rotate smoothly and float in multiple directions within the limiting cylinder 71; the ball 75 in the elastic component is designed to achieve the multi-directional elastic floating effect of the first floating ring 31 and the second floating ring 32 without interfering with the rotation of the first floating ring 31 and the second floating ring 32 in the floating state, thus 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-detachment baffle 77 is embedded in the annular groove 33, and a rubber ring is provided on the inner ring. This not only enables the multi-directional floating and rotating effect of the first floating ring 31 and the second floating ring 32, but also seals and isolates the sliding ring 72 and other moving parts such as the elastic components in the limiting cylinder 71. This prevents debris and sewage generated during the attachment process from entering the limiting cylinder 71 through the gap between the anti-detachment baffle 77 and the first floating ring 31 or the second floating ring 32, and causing the sliding ring 72 to slide, rotate, or get stuck, or the rolling ball 75 and the floating spring 76 to get stuck.

[0088] Furthermore, the slip ring 72 and the sealing ring 78 constitute the two fulcrums for the first floating ring 31 and the second floating ring 32 to float and rotate in the limiting cylinder 71. The slip ring 72 mainly plays the role of rotational lubrication and floating support. The sealing ring 78 is elastic and can be rotated axially in the inner ring of the anti-detachment baffle 77. It mainly plays the role of movable 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, and avoid the first floating ring 31 and the second floating ring 32 from excessive floating due to small curved surfaces or protrusions of attached objects, thus ensuring the cleaning effect of the cleaning ring 4 and the grinding effect of the grinding ring 5.

[0089] In order to achieve the floating and rotating effect of the first floating ring 31 and the second floating ring 32 on the cleaning frame 2, refer to Figure 2 , Figure 4 and Figure 5 The aforementioned driving device includes:

[0090] A drive disc 81 is rotatably mounted on a cleaning rack 2, and a power motor 82 is installed on the cleaning rack 2 to drive the drive disc 81 to rotate.

[0091] The drive columns 83 are provided in multiple and are fixed to the edge of the drive disk 81 in an equally spaced circular array. The drive columns 83 are parallel to the axis of the drive disk 81.

[0092] The transmission column 84 is provided in a plurality of circumferential arrays with equal spacing and is fixed to the outer peripheral wall of the arc surface of the first floating ring 31 or the second floating ring 32. The gap between two adjacent transmission columns 84 is greater than the outer diameter of the drive column 83. The transmission columns 84 are arranged radially along the first floating ring 31 or the second floating ring 32. The outer diameter of the drive column 83 is greater than the outer diameter of the transmission column 84.

[0093] The drive column 83 and the transmission column 84 are orthogonally arranged, and when the drive disk 81 rotates, it drives the first floating ring 31 and the two second floating rings 32 to rotate simultaneously through multiple drive columns 83 and multiple transmission columns 84. The length of the drive 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.

[0094] Therefore, when the power motor 82 drives the drive disc 81 to rotate, the drive disc 81 drives multiple drive columns 83 on it to rotate. These drive columns 83, through the meshing transmission effect with the multiple transmission columns 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 float and deflect during rotation, the longer drive columns 83 can still stably mesh with the gaps between the multiple transmission columns 84 to achieve a floating drive effect. Furthermore, because the gaps between adjacent drive columns 83 and adjacent transmission columns 84 are relatively large, even if sewage or debris splashes back during high-pressure jet flushing, it will not significantly interfere with the meshing transmission between the drive columns 83 and the transmission columns 84. Compared to conventional gear meshing and universal joint drives, this transmission method can be applied in harsh environments. Furthermore, the high-pressure jet backwash water and the high-speed airflow sprayed by the drying air gun 62 impact the bottom wall of the ship, which has a certain probability of washing away any debris that may be trapped on the transmission column 84 and drive column 83. In addition, the centrifugal force of rotation can also promote the removal of any debris that may be trapped on the transmission column 84 and drive column 83.

[0095] In addition, considering that attachments such as barnacles are relatively hard, relying solely on multiple blades 41 on the high-speed rotating cleaning disc for cleaning may cause excessive jumping of the cleaning disc and the first floating ring 31 when the blades 41 initially come into contact with such attachments. This could easily cause the blades 41 closest to the bottom wall of the ship to scratch the bottom wall, which is also not conducive to cleaning the attachments.

[0096] Therefore, referring to Figure 4 , Figure 5 and Figure 7A triangular pyramid 85 is fixed to the free end of the transmission column 84 on the first floating ring 31, and the edges of the triangular pyramid 85 are rounded; or, when the transmission column 84 on the first floating ring 31 is in transmission with the drive column 83, the triangular pyramid 85 does not contact the drive column 83.

[0097] Therefore, by setting a triangular pyramid 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 rotates under the drive of the drive disc 81, the triangular pyramid 85 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 41 on the cleaning ring 4 to remove them. This can significantly reduce the probability of excessive jumping of the cleaning ring 4 and ensure the cleaning effect of the cleaning ring 4.

[0098] Furthermore, it is also considered that if the cleaning disc and the first floating ring 31 jump during the cleaning process, it means that there are attachments on the bottom wall that cannot be cleaned in a short period of time. At this time, it is necessary to control the cleaning frame 2 to work in that place for a longer period of time. However, the water pressure sprayed by the high-pressure water gun 61 is relatively high, and if it stays in a certain place for a long time, it will still cause excessive damage to the bottom wall.

[0099] Therefore, refer to Figure 4 , Figure 5 and Figure 8 A fixed shaft 91 is also fixedly connected to the cleaning frame 2. A sleeve 92 is sleeved on the fixed shaft 91. A high-pressure water gun 61 is installed on the sleeve 92. A connecting rod 93 is fixedly connected to the side of the sleeve 92 facing away from the grinding ring 5. A moving plate 94 corresponding to a number of sliding rods 73 extending out of one end of the back of the cleaning frame 2 is fixedly connected to the free end of the connecting rod 93.

[0100] When the cleaning ring 4 floats axially on the side away from the grinding ring 5 on the cleaning frame 2, the cleaning ring 4 pushes the corresponding slide bar 73 to make the moving plate 94 drive the sleeve 92 to flip, so that the high-pressure water gun 61 forms a sweeping cleaning synchronized with the floating state of the cleaning ring 4.

[0101] Additionally, a torsion spring 95 is fitted on the fixed shaft 91. One end of the torsion spring 95 is fixedly connected to the sleeve 92 and the other end is fixedly connected to the fixed shaft 91, which allows the sleeve 92 and the high-pressure water gun 61 on it to return to their original position in time after swinging with the cleaning ring 4.

[0102] Furthermore, during the high-pressure water gun 61 rinsing process, a large portion of the splashed sewage and debris will inevitably enter the gap between the first float ring 31 and the cleaning frame 2, causing the elastic component to jam. To address this, a water-proof rubber sleeve 24 is fixedly connected inside the first mounting port of the cleaning frame 2, and the water-proof rubber sleeve 24 is located between the inner circumferential wall of the first float ring 31 and the high-pressure water gun 61.

[0103] Furthermore, in other feasible embodiments, refer to Figure 2 , Figure 4 and Figure 5 Furthermore, an elastic ring can be coaxially fixed to the end of the waterproof rubber sleeve 24 away from the cleaning frame 2. This elastic ring can be made of plastic or elastic metal to ensure the rigidity 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 improving the sealing effect. Moreover, a C-shaped support frame can be fixed between the elastic ring and the cleaning frame 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, and also prevents interference with the floating of the first floating ring 31 or the second floating ring 32.

[0104] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0105] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A ship hull 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 greater than the outer diameter of the second floating ring; A cleaning ring, coaxially installed on the first floating ring, and on the side facing away from the first floating ring, a plurality of scraper blades are fixedly connected; when the universal roller contacts the bottom wall of the ship, the cutting edge of the scraper blade is elastically pressed against the bottom wall of the ship; A polishing ring, coaxially installed on the second floating ring, and the polishing ring is located on the side of the cleaning ring facing away from the traveling direction of the cleaning frame, and the cleaning ring and the two polishing rings are arranged in a "pin" shape; A driving device, used to drive the cleaning ring and the two polishing 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 polishing ring; A limiting cylinder, fixedly connected to the cleaning frame, there are three and 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 multiple 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; On the side of the limiting cylinder facing away from the cleaning frame, an annular anti-detachment baffle is fixedly connected, and the inner diameter of the anti-detachment baffle is greater than the outer diameter of the first floating ring or the second floating ring.

2. The ship bottom rust removal robot according to claim 1, 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.

3. The ship bottom rust removal robot according to claim 1, characterized in that, On the outer peripheral wall of the arc surface of the first floating ring and the second floating ring, a ring groove is opened, the width of the ring groove is more than three times the wall thickness of the anti-detachment baffle, and the inner ring of the anti-detachment baffle is embedded in the ring groove and is arranged with a gap from the bottom wall of the ring groove.

4. The rust removal robot for ship bottoms according to claim 3, characterized in that, A sealing rubber ring is fixedly connected to the inner ring wall of the anti-detachment baffle extending into the ring groove.

5. The ship bottom rust removal robot according to any one of claims 1-4, 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 multiple 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 multiple 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 greater 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 multiple driving columns and the multiple 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.

6. The ship bottom rust removal robot according to claim 5, characterized in that, At the free end of the transmission column on the first floating ring, a triangular pyramid is fixedly connected; The edges of the triangular pyramid are provided with rounded corners, or when the transmission column on the first floating ring is transmitting power with the driving column, the triangular pyramid does not contact the driving column.

7. The ship bottom rust removal robot according to claim 2, characterized in that, A fixed shaft is fixedly connected to the cleaning frame, and a sleeve is sleeved on the fixed shaft. The high-pressure water gun is installed on the sleeve. A connecting rod is fixedly connected to the side of the sleeve facing away from the grinding ring. A moving plate corresponding to the sliding rod extending out of the back of the cleaning frame is fixedly connected to the free end of the connecting rod. When the cleaning ring floats axially on the side away from the grinding ring on the cleaning frame, the cleaning ring pushes the corresponding slide bar to cause the synchronous plate to rotate the sleeve, so that the high-pressure water gun forms a sweeping cleaning synchronized with the floating state of the cleaning ring.

8. The rust removal robot for ship bottoms according to claim 7, characterized in that, A torsion spring is sleeved on the fixed shaft, with one end of the torsion spring fixedly connected to the sleeve and the other end fixedly connected to the fixed shaft.

9. The rust removal robot for ship bottoms according to claim 1, characterized in that, The cleaning frame has a first mounting port and a second mounting port corresponding to the first float ring and the second float ring. A water-proof rubber sleeve is fixed inside the first mounting port of the cleaning frame. The water-proof rubber sleeve is located between the inner peripheral wall of the first float ring and the high-pressure water gun.

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