A ship pipeline cleaning robot

Abstract

This invention relates to the field of ship maintenance technology, specifically to a ship pipeline cleaning robot, comprising a crawler, a high-pressure jet nozzle, a drive motor, a rotating assembly, an adjusting assembly, and a speed change plate. The crawler is connected to the high-pressure jet nozzle. The high-pressure jet nozzle consists of a housing and a spray ring. The housing is fixedly connected to the crawler, and the spray ring is rotatably connected to the housing. A ring array of spray pipes is arranged on the spray ring, and nozzles are rotatably mounted on the spray pipes. A drive motor is installed inside the spray ring, and a rotating assembly is located on one side of the drive motor. The rotating assembly is fixedly connected to the spray pipes, and the rotating assembly drives the spray pipes to slide horizontally. An adjusting cavity is opened on the spray ring, and an adjusting assembly is located inside the adjusting cavity. A speed change plate is located inside the adjusting assembly. The rotating assembly drives the speed change plate to deflect through the adjusting assembly. This invention achieves adjustment of the cleaning distance and cleaning range of the cleaning robot through rotational motion, thereby ensuring the cleaning efficiency and quality of the cleaning robot for different ship pipeline inner diameters.

Description

Technical Field

[0001] This invention relates to the field of ship maintenance technology, specifically to a ship pipeline cleaning robot. Background Technology

[0002] Ship piping plays a vital role in ship design and operation. It is mainly divided into power management and ship system piping. They are responsible for transporting various fluids, such as fuel oil, lubricating oil, cooling water, and compressed air, to ensure the normal operation of the ship.

[0003] During long-term transportation, scale will accumulate on the inner walls of ship pipelines. Therefore, pipeline cleaning robots are needed to clean the inner walls of the pipelines to ensure their normal operation. The pipeline cleaning robot mainly consists of a crawler, a camera, and a high-pressure jet nozzle. An external power supply is connected to the crawler through a cable, which drives the crawler to move inside the pipeline. The crawler is equipped with a camera to transmit the situation inside the pipeline in real time. The movement of the crawler is adjusted according to the camera's image. During the movement of the crawler, the high-pressure jet nozzle moves synchronously. The high-pressure jet nozzle uses a high-pressure water pump to supply water and emit a high-pressure water jet to clean the scale on the inner walls of the ship pipeline.

[0004] However, during the cleaning process, due to the different inner diameters of the pipes, the target distance between the high-pressure jet nozzle and the inner wall of the pipe is different. When the target distance between the inner wall of the pipe and the high-pressure jet nozzle is small, the impact force of the high-pressure jet nozzle on the scale on the inner wall of the pipe increases, which in turn causes water flow to damage the wall surface. At the same time, if the target distance is too close, the cleaning area will be reduced.

[0005] In view of this, we propose a ship pipeline cleaning robot. Summary of the Invention

[0006] The purpose of this invention is to provide a ship pipeline cleaning robot to solve the problem of inconsistent pipeline inner diameter and cleaning distance mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A marine pipeline cleaning robot includes a crawler, a high-pressure jet nozzle, a drive motor, a rotating assembly, and an adjusting assembly. A distance sensor is fixedly mounted on the crawler, which is connected to the high-pressure jet nozzle. This fixed connection drives the high-pressure jet nozzle to move synchronously within the pipeline, cleaning scale buildup. The distance sensor detects the pipeline's inner diameter; when the inner diameter changes, the distance sensor sends an electrical signal to the control console. The high-pressure jet nozzle consists of a housing and a spray ring assembly. The housing is fixedly connected to the crawler, the spray ring is rotatably connected to the housing, the spray ring has a ring array of spray pipes, and the spray pipes are rotatably mounted with nozzles. The high-pressure jet nozzle is a self-rotating high-pressure nozzle. The reaction force during water cleaning drives the spray ring and the housing to rotate relative to each other. The housing of the high-pressure jet nozzle is fixedly connected to the crawler. The housing has a water inlet, which is connected to a high-pressure water pump through a water pipe to supply water to the high-pressure jet nozzle. The spray ring of the high-pressure jet nozzle and the housing are rotatably connected through bearings.

[0009] A drive motor is installed inside the spray ring, and a rotating assembly is provided on one side of the drive motor. The rotating assembly is fixedly connected to the spray pipe. When the high-pressure jet nozzle is working, the rotating assembly drives the spray pipe to slide horizontally, thereby adjusting the distance between the nozzle and the inner diameter of the pipe. As the inner diameter of the pipe changes during the cleaning process, the position of the nozzle is adjusted through the spray pipe to maintain the target distance between the nozzle and the pipe wall at the optimal spray distance. This avoids poor cleaning effect due to a large target distance, and also avoids over-cleaning and damage to the inner wall of the pipe due to a small target distance. An adjustment cavity is provided on the spray ring. An adjustment component is provided inside the cavity, and a speed-changing plate is provided on the inner side of the adjustment component. When the nozzle slides horizontally, the rotating component drives the speed-changing plate to deflect through the adjustment component, thereby increasing the water flow velocity. As the inner diameter of the pipe increases, the rotating component drives the nozzle to move a greater distance along the outer circumference, thereby increasing the distance the water flows through and reducing the flow velocity when the water reaches the nozzle, resulting in a decrease in cleaning effect. By adjusting the speed-changing plate driven by the adjustment component to change the inner diameter of the spray ring, the water flow is pressurized, thereby ensuring the stability of the water flow velocity at the nozzle and thus ensuring the stability of the cleaning effect and cleaning quality.

[0010] Preferably, one end of the nozzle has a ball joint groove for rotatable connection with the nozzle, and the other end of the nozzle has a trumpet-shaped structure. The nozzle and the nozzle are connected by a ball joint groove, which allows the nozzle and the nozzle to rotate relative to each other, thereby adjusting the nozzle angle and ensuring the cleaning efficiency and cleaning range of the nozzle. The trumpet-shaped structure of the nozzle has a converging and accelerating effect on the water flow. When the water flow enters the nozzle from the trumpet-shaped structure, it has a converging and pressurizing effect, thereby increasing the water flow velocity and ensuring the water flow velocity when it flows out of the nozzle, thus ensuring the cleaning quality.

[0011] Preferably, the rotating assembly includes a turntable, a limiting plate, a push rod, a rotating ring, a support rod, a compression spring, and a deflection plate. The turntable is rotatably mounted to the inner wall of the spray ring and fixedly mounted to the drive motor. When the distance sensor detects an increase in the inner diameter of the pipe, the distance sensor sends an electrical signal to the control console, which controls the drive motor to rotate forward. The drive motor drives the turntable to rotate synchronously. The turntable has a circular array of drive grooves and wheel teeth. A limiting plate is provided on one side of the turntable. The limiting plate is fixedly mounted to the inner wall of the spray ring and has a limiting groove that mates with the drive groove. A push rod is provided between the limiting plate and the turntable. When the turntable rotates, it pushes the push rod through the drive groove. The push rod slides along the outer circumference while maintaining horizontal sliding under the action of the limiting groove of the limiting plate. One end of the push rod is located in the drive groove, and the other end is located in the limiting groove. The end of the push rod located in the limiting groove is rotatably connected to the rotating ring. The push rod is provided with an L-shaped protrusion, and an L-shaped sliding groove is provided when the ring rotates. The push rod and the rotating ring are rotatably connected through the L-shaped protrusion and the L-shaped sliding groove. The rotating ring is rotatably connected to the nozzle through a bearing. When the push rod moves, it pushes the rotating ring to move synchronously through the L-shaped protrusion. The rotating ring pushes the nozzle to move synchronously, and the nozzle drives the nozzle to move and extend synchronously, changing the target distance between the nozzle and the inner wall of the pipe to maintain cleaning quality. The rotating ring has a rotating... The rotating ring has a drive block on its inner wall that mates with the rotating groove, and an adjustment block with a stepped structure on its rotating ring. A support rod is located on one side of the adjustment block. The support rod is slidably connected to the nozzle via a compression spring, and a deflection plate is ball-jointed to one end of the support rod. The deflection plate is fixedly connected to the nozzle. During horizontal sliding, the rotating groove on the rotating ring contacts the drive block on the spray ring. The drive block compresses the rotating groove, thereby driving the rotating ring to rotate. The nozzle is rotatably connected to the rotating ring via a bearing, and due to the frictional force of the spray ring, it does not rotate with the rotating ring. The rotating ring rotates relative to the nozzle, and during this rotation, it drives the stepped structure on its rotating ring. The adjusting block rotates synchronously, and the adjusting block and the support rod rotate relative to each other. The distance between the adjusting block and the support rod increases, and the support rod no longer squeezes the support rod. Under the action of the compression spring, the support rod slides along the circumferential center, which in turn pulls the deflection plate connected to it by a ball joint to move synchronously. The deflection plate pulls the nozzle to deflect, and the nozzle deflects towards the circumferential center, increasing its own cleaning direction. When the spray pipe drives the nozzle to slide towards the inner wall of the pipe, the spray pipe close to the inner wall of the pipe ensures the cleaning force. However, as the distance between the nozzle and the inner wall of the pipe decreases, the cleaning range of the nozzle decreases, which leads to a decrease in cleaning efficiency. At this time, the deflection plate pulls the nozzle to deflect, adjusting the cleaning range of the nozzle, thereby ensuring the stability of the cleaning efficiency.

[0012] Preferably, the limiting plate has a flow-guiding groove corresponding to the nozzle, and the push rod has a compensation groove communicating with the flow-guiding groove. The compensation groove has a flow-guiding surface, which is parallel to the funnel-shaped structure. The flow-guiding groove guides the water flow, allowing the water to flow along a specific area, thereby controlling the water flow in that specific area and improving the efficiency of the water flow entering the nozzle. As the sliding distance of the nozzle increases, the distance between the limiting plate and the nozzle increases, and the compensation groove on the push rod replenishes the flow-guiding groove, allowing the water flow to enter the compensation groove from the flow-guiding groove and then enter the funnel-shaped structure of the nozzle through the compensation groove. This promotes the converging effect of the funnel-shaped structure on the water flow, thereby ensuring the flow rate and velocity of the water entering the nozzle.

[0013] Preferably, the rotating ring is provided with a guide vane that rotates in the opposite direction to the rotating groove, and the guide vane is spiral in shape. The rotating ring rotates through the cooperation of the driving block and the rotating groove, and thus the rotating ring and the rotating groove rotate in opposite directions. At this time, the water flow impacts the guide vane that rotates in the same direction as the rotating ring, thereby assisting the driving block in driving the rotating ring to rotate, improving the smoothness of the rotating ring. At the same time, the spiral shape of the guide vane guides the direction of water flow, guiding the water flow into the funnel-shaped structure of the nozzle, thereby increasing the water flow velocity, ensuring water flow rate, and thus ensuring cleaning efficiency.

[0014] Preferably, the stepped structure has an arc surface, and the support rod has an arc surface that cooperates with the adjusting block. The arc surface and the hemispherical structure cooperate with each other to reduce the friction between the adjusting block and the support rod, so that the support rod can pull the nozzle to deflect at an angle through the deflection plate. At the same time, it is convenient for the support rod to be pushed back to its original position by the adjusting block when the rotating ring is reset, thereby improving the transmission efficiency and reducing the transmission loss.

[0015] Preferably, the deflector plate is provided with a baffle plate, which is located above the ball joint groove. The baffle plate is used to block the water flow and the scale washed off during cleaning, so as to prevent the scale washed off from falling at the connection between the nozzle and the spray pipe, which would cause the nozzle rotation to be blocked and affect the nozzle angle adjustment effect.

[0016] Preferably, the adjustment assembly includes a drive wheel, a transmission shaft, a driven wheel, a drive plate, a fixed plate, and a limiting shaft; the drive wheel is rotatably connected to the spray ring and meshes with the turntable; a driven wheel is provided on one side of the drive wheel, and the drive wheel and the driven wheel are connected by the transmission shaft; the driven wheel is rotatably installed in the adjustment cavity and meshes with the drive plate; the drive plate is rotatably connected to the adjustment cavity, and an arc-shaped groove is formed on the drive plate; a fixed plate is provided on one side of the drive plate; the fixed plate is fixedly connected to the adjustment cavity, and a straight groove is formed on the fixed plate; a limiting shaft is provided between the fixed plate and the drive plate; both ends of the limiting shaft are located in the arc-shaped groove. Within the straight groove, the middle end of the limiting shaft is fixedly connected to the speed-changing plate. When the turntable rotates, the gear teeth on the outer circumference mesh with the driving wheel, thereby driving the driving wheel to rotate. When the driving wheel rotates, it drives the driven wheel to rotate synchronously through the transmission shaft. The driven wheel meshes with the drive plate, thereby causing the drive plate to rotate. The drive plate pushes the limiting shaft to slide through the arc-shaped groove. The limiting shaft ensures its own movement trajectory through the straight groove on the fixed plate. When the limiting shaft slides, it drives the speed-changing plate to slide out, thereby changing the inner diameter of the spray ring, thereby increasing the pressure on the water flow, thereby increasing the flow speed of the water flow, thus ensuring the flow speed of the water flow when it enters the nozzle, and ensuring the cleaning efficiency of the nozzle.

[0017] Preferably, the speed-changing plate has a regular polygonal structure with an elliptical cross-section. The regular polygonal structure provides a more uniform water flow distribution and reduces eddy currents at corners, thereby reducing energy loss and improving water flow efficiency. The elliptical structure of the speed-changing plate reduces the relative resistance between itself and the water flow, thus ensuring the water flow speed. At the same time, the elliptical structure improves the smoothness between the spray ring and the speed-changing plate, allowing the spray ring to form a structure similar to a Laval tube, thereby accelerating the water flow.

[0018] Preferably, the speed plate has an arc-shaped hole. When the cleaning robot is working, the spray ring will rotate relative to the housing, thereby driving the water flow to flow in a spiral. At this time, the arc-shaped hole enhances the intensity of the spiral flow of the water, thereby increasing the flow speed of the water, thus ensuring the speed of the water flow sprayed from the nozzle and ensuring cleaning efficiency.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] A ship pipeline cleaning robot is disclosed. This invention uses a rotating component and an adjusting component to maintain the optimal cleaning distance between the cleaning robot and different pipe inner diameters, thereby ensuring the cleaning quality and effect of ship pipelines.

[0021] A ship pipeline cleaning robot, the present invention ensures the stability of the nozzle cleaning range through a rotating component, thereby improving cleaning efficiency, ensuring cleaning quality, and avoiding the problem of reduced cleaning range leading to increased cleaning time.

[0022] A ship pipeline cleaning robot, the present invention achieves the regulation of water flow velocity through adjustment components, thereby ensuring the stability of water flow velocity and thus ensuring cleaning quality, avoiding the reduction of water flow velocity, which would lead to a decrease in impact force and thus a reduction in cleaning quality. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall cleaning robot of the present invention;

[0024] Figure 2 This is a half-sectional schematic diagram of the high-pressure jet nozzle of the present invention;

[0025] Figure 3 For the present invention Figure 2 A magnified view of point A;

[0026] Figure 4 This is an isometric view of the rotating assembly and the adjusting assembly of the present invention;

[0027] Figure 5 This is a rear view of the rotating assembly and the adjusting assembly of the present invention;

[0028] Figure 6 This is a vertical sectional view of the high-pressure jet nozzle of the present invention;

[0029] Figure 7 For the present invention Figure 6 A magnified view of point B;

[0030] Figure 8 This is a half-sectional schematic diagram of the rotating component of the present invention;

[0031] Figure 9 For the present invention Figure 8 A magnified view of point C;

[0032] Figure 10 For the present invention Figure 8 A magnified view of point D;

[0033] Figure 11 This is a schematic diagram of the rotating ring and support rod of the present invention;

[0034] Figure 12 This is a schematic diagram of the overall rotating ring of the present invention;

[0035] Figure 13 This is a schematic diagram of the overall adjustment component of the present invention;

[0036] Figure 14This is a bottom view of the adjustment component of the present invention.

[0037] In the picture:

[0038] 1. Crawler; 11. Distance sensor;

[0039] 2. High-pressure jet nozzle; 21. Housing; 22. Spray ring; 221. Spray pipe; 2211. Ball joint groove; 2212. Horn-shaped structure; 222. Nozzle; 223. Adjustment chamber; 224. Drive block;

[0040] 3. Drive motor;

[0041] 4. Rotating assembly; 41. Turntable; 411. Drive slot; 42. Limiting plate; 421. Limiting slot; 422. Flow channel; 43. Push rod; 431. Compensation slot; 432. Flow channel; 44. Rotating ring; 441. Rotating slot; 442. Adjusting block; 4421. Stepped structure; 4422. Arc surface; 443. Flow guide plate; 4431. Spiral; 45. Support rod; 46. Compression spring; 47. Deflector plate; 471. Baffle plate;

[0042] 5. Adjustment assembly; 51. Drive wheel; 52. Drive shaft; 53. Driven wheel; 54. Drive plate; 541. Arc groove; 55. Fixing plate; 551. Straight groove; 56. Limiting shaft;

[0043] 6. Gear shift plate; 61. Regular polygonal structure; 62. Elliptical structure; 63. Arc-shaped hole. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] During long-term transportation, scale will accumulate on the inner walls of ship pipelines. Therefore, pipeline cleaning robots are needed to clean the inner walls of the pipelines to ensure their normal operation. The pipeline cleaning robot mainly consists of a crawler, a camera, and a high-pressure jet nozzle. An external power supply is connected to the crawler through a cable, which drives the crawler to move inside the pipeline. The crawler is equipped with a camera to transmit the situation inside the pipeline in real time. The movement of the crawler is adjusted according to the camera's image. During the movement of the crawler, the high-pressure jet nozzle moves synchronously. The high-pressure jet nozzle uses a high-pressure water pump to supply water and emit a high-pressure water jet to clean the scale on the inner walls of the ship pipeline.

[0046] However, during the cleaning process, due to the different inner diameters of the pipes, the target distance between the high-pressure jet nozzle and the inner wall of the pipe varies. When the target distance between the inner wall of the pipe and the high-pressure jet nozzle is small, the impact force of the high-pressure jet nozzle on the scale on the inner wall of the pipe increases, which in turn causes water flow to damage the wall surface. At the same time, too close a target distance will reduce the cleaning area. When the distance between the high-pressure jet nozzle and the inner wall of the pipe increases, the impact force of the jet reaching the inner wall of the pipe decreases, the ability to destroy dirt decreases, and thus the cleaning efficiency decreases.

[0047] The present invention provides a technical solution:

[0048] like Figures 1 to 14 As shown, a ship pipeline cleaning robot includes a crawler 1, a high-pressure jet nozzle 2, a drive motor 3, a rotating assembly 4, and an adjusting assembly 5. A distance sensor 11 is fixedly mounted on the crawler 1, and the crawler 1 is connected to the high-pressure jet nozzle 2. The high-pressure jet nozzle 2 consists of a housing 21 and a spray ring 22. The housing 21 is fixedly connected to the crawler 1, and the spray ring 22 is rotatably connected to the housing 21. A spray pipe 221 is arranged in a ring on the spray ring 22, and nozzles 222 are rotatably mounted on the spray pipe 221. A drive motor 3 is installed inside the spray ring 22. The drive motor 3 has a rotating component 4 on one side, which is fixedly connected to the nozzle 221. When the high-pressure jet nozzle 2 is working, the rotating component 4 drives the nozzle 221 to slide horizontally, thereby adjusting the distance between the nozzle 222 and the inner diameter of the pipe. The spray ring 22 has an adjustment cavity 223, and an adjustment component 5 is provided in the adjustment cavity 223. A speed change plate 6 is provided inside the adjustment component 5. When the nozzle 221 slides horizontally, the rotating component 4 drives the speed change plate 6 to deflect through the adjustment component 5, thereby increasing the water flow velocity.

[0049] Specifically, a distance sensor 11 is fixedly installed on the crawler 1. The crawler 1 is connected to the high-pressure jet nozzle 2, which in turn drives the high-pressure jet nozzle 2 to move synchronously inside the pipe to clean the scale inside the pipe. The distance sensor 11 is used to detect the inner diameter of the pipe. When the inner diameter of the pipe changes during cleaning, the distance sensor 11 sends an electrical signal to the control console. The high-pressure jet nozzle 2 consists of a housing 21 and a spray ring 22. The housing 21 is fixedly connected to the crawler 1, and the spray ring 22 is rotatably connected to the housing 21. The spray ring 22 has a ring array of spray pipes 221, and nozzles 222 are rotatably installed on the spray pipes 221. The high-pressure jet nozzle is a self-rotating high-pressure nozzle. The head, driven by the reaction force of the water flow during cleaning, drives the spray ring 22 to rotate relative to the housing 21. The housing 21 of the high-pressure jet nozzle 2 is fixedly connected to the crawler 1. The housing 21 has a water inlet, which is connected to the high-pressure water pump through a water pipe, thereby supplying water to the high-pressure jet nozzle 2. The spray ring 22 of the high-pressure jet nozzle 2 and the housing 21 are rotatably connected through a bearing. When the cleaning robot is cleaning, the crawler 1 drives the high-pressure jet nozzle 2 to move synchronously. The high-pressure water pump supplies water to the high-pressure jet nozzle 2 through the water pipe. The water flows through the housing 21 into the spray ring 22, and then from the spray ring 22 through the spray pipe 221 into the nozzle 222, thereby emitting a high-pressure water flow to clean the inner wall of the pipe.

[0050] A drive motor 3 is installed inside the spray ring 22. A rotating component 4 is located on one side of the drive motor 3. The rotating component 4 is fixedly connected to the spray pipe 221. When the high-pressure jet nozzle 2 is working, the rotating component 4 drives the spray pipe 221 to slide horizontally, thereby adjusting the distance between the nozzle 222 and the inner diameter of the pipe. As the inner diameter of the pipe changes during the cleaning process, the position of the nozzle 222 is adjusted through the spray pipe 221, so that the target distance between the nozzle 222 and the pipe wall is maintained at the optimal spray distance. This avoids poor cleaning effect due to a large target distance, and also avoids over-cleaning due to a small target distance, which could damage the inner wall of the pipe. An adjustment cavity 223 is provided on the spray ring 22. The nozzle 223 is equipped with an adjustment component 5, and a speed-changing plate 6 is provided inside the adjustment component 5. When the nozzle 221 slides horizontally, the rotating component 4 drives the speed-changing plate 6 to deflect through the adjustment component 5, thereby increasing the water flow velocity. As the inner diameter of the pipe increases, the rotating component 4 drives the nozzle 221 to move a greater distance along the outer circumference, thereby increasing the distance the water flows through, which reduces the flow velocity when the water reaches the nozzle 222, resulting in a decrease in cleaning effect. By driving the speed-changing plate 6 to deflect through the adjustment component 5, the inner diameter of the spray ring 22 is changed, thereby pressurizing the water flow and ensuring the stability of the water flow velocity at the nozzle 222, thus ensuring the stability of the cleaning effect and cleaning quality.

[0051] Preferably, in the initial state, the cleaning distance between the nozzle 222 and the inner diameter of the pipe is the optimal cleaning distance for the smallest inner diameter of the pipe to be cleaned by the cleaning robot.

[0052] In this embodiment, one end of the nozzle 221 is provided with a ball joint groove 2211 and is rotatably connected to the nozzle 222, and the other end of the nozzle 221 is a trumpet-shaped structure 2212;

[0053] Specifically, the nozzle 221 and the spray pipe 222 are connected by a ball joint groove 2211, which allows the nozzle 222 and the spray pipe 221 to rotate relative to each other, thereby adjusting the angle of the nozzle 222 and ensuring the cleaning efficiency and cleaning range of the nozzle 222, thus improving the cleaning efficiency. The trumpet-shaped structure 2212 of the spray pipe 221 plays a role in converging and accelerating the water flow. When the water flow enters the spray pipe 221 from the trumpet-shaped structure 2212, it has a converging and pressurizing effect, thereby increasing the water flow velocity and ensuring the water flow velocity when it flows out of the nozzle 222, thus ensuring the cleaning quality.

[0054] In this embodiment, the rotating assembly 4 includes a turntable 41, a limiting plate 42, a push rod 43, a rotating ring 44, a support rod 45, a compression spring 46, and a deflection plate 47. The turntable 41 is rotatably mounted to the inner wall of the spray ring 22, and the turntable 41 is fixedly mounted to the drive motor 3. The turntable 41 has a circular array of drive grooves 411 and wheel teeth. A limiting plate 42 is provided on one side of the turntable 41. The limiting plate 42 is fixedly mounted to the inner wall of the spray ring 22. The limiting plate 42 has a limiting groove 421 that mates with the drive grooves 411. A push rod 43 is provided between the limiting plate 42 and the turntable 41. One end of the push rod 43 is located in the drive groove 411. Within 11, the other end of the push rod 43 is located within the limiting groove 421, and one end of the push rod 43 located in the limiting groove 421 is rotatably connected to the rotating ring 44; the rotating ring 44 is rotatably connected to the nozzle 221, and a rotating groove 441 is provided on the rotating ring 44; a driving block 224 that cooperates with the rotating groove 441 is provided on the inner wall of the spray ring 22; an adjusting block 442 with a stepped structure 4421 is provided on the rotating ring 44; a support rod 45 is provided on one side of the adjusting block 442; the support rod 45 is slidably connected to the nozzle 221 through a compression spring 46, and a deflection plate 47 is ball-jointed to one end of the support rod 45; the deflection plate 47 is fixedly connected to the nozzle 222;

[0055] Specifically, the turntable 41 is rotatably mounted on the inner wall of the spray ring 22, and the turntable 41 is fixedly mounted on the drive motor 3. When the distance sensor 11 detects an increase in the inner diameter of the pipe, the distance sensor 11 sends an electrical signal to the control console, which controls the drive motor 3 to rotate forward. The drive motor 3 drives the turntable 41 to rotate synchronously. The turntable 41 has a circular array of drive grooves 411, and the turntable 41 is equipped with wheel teeth. A limiting plate 42 is provided on one side of the turntable 41. The limiting plate 42 is mounted on the inner wall of the spray ring 22. The device is fixedly installed. A limiting groove 421, which mates with the drive groove 411, is provided on the limiting plate 42. A push rod 43 is provided between the limiting plate 42 and the turntable 41. When the turntable 41 rotates, the push rod 43 slides along the outer circumference via the drive groove 411. Simultaneously, the push rod 43 remains horizontally slidable under the action of the limiting groove 421 on the limiting plate 42. One end of the push rod 43 is located in the drive groove 411, and the other end is located in the limiting groove 421. One end of the push rod 43 is rotatably connected to the rotating ring 44. The push rod 43 has an L-shaped protrusion, and the rotating ring 44 has an L-shaped groove. The push rod 43 and the rotating ring 44 are rotatably connected via the L-shaped protrusion and the L-shaped groove. The rotating ring 44 is rotatably connected to the nozzle 221 via a bearing. When the push rod 43 moves, it pushes the rotating ring 44 to move synchronously via the L-shaped protrusion. The rotating ring 44 pushes the nozzle 221 to move synchronously, and the nozzle 221 drives the nozzle 222 to move synchronously. The nozzle 222 extends and moves, changing the target distance between the nozzle 222 and the inner wall of the pipe to maintain cleaning quality; a rotating groove 441 is provided on the rotating ring 44, and a drive block 224 that cooperates with the rotating groove 441 is provided on the inner wall of the spray ring 22. An adjustment block 442 with a stepped structure 4421 is provided on the rotating ring 44; a support rod 45 is provided on one side of the adjustment block 442; the support rod 45 is slidably connected to the spray pipe 221 through a compression spring 46, and a deflection plate 47 is ball-jointed to one end of the support rod 45.The deflection plate 47 is fixedly connected to the nozzle 222. During the horizontal sliding process, the rotating groove 441 on the rotating ring 44 contacts the driving block 224 on the spray ring 22. The driving block 224 drives the rotating ring 44 to rotate by pressing the rotating groove 441. The nozzle 221 is rotatably connected to the rotating ring 44 through a bearing. Under the limitation of the friction of the spray ring 222, the nozzle 221 does not rotate with the rotating ring 44. The rotating ring 44 rotates relative to the nozzle 221. During the rotation, the rotating ring 44 drives the adjusting block 442 of its stepped structure 4421 to rotate synchronously. The adjusting block 442 rotates relative to the support rod 45, and the distance between the adjusting block 442 and the support rod 45 increases. The support rod 45 is no longer compressed. Under the action of the compression spring 46, the support rod 45 slides along the circumferential center, thereby pulling the deflection plate 47 connected to it by a ball joint to move synchronously. The deflection plate 47 pulls the nozzle 222 to deflect, and the nozzle 222 deflects towards the circumferential center, increasing its cleaning direction. When the spray pipe 221 drives the nozzle 222 to slide towards the inner wall of the pipe, the spray pipe 221 close to the inner wall of the pipe ensures cleaning force. However, as the distance between the nozzle 222 and the inner wall of the pipe decreases, the cleaning range of the nozzle 222 decreases, resulting in a decrease in cleaning efficiency. At this time, the deflection plate 47 pulls the nozzle 222 to deflect, adjusting the cleaning range of the nozzle 222, thereby ensuring the stability of cleaning efficiency.

[0056] In this embodiment, the limiting plate 42 is provided with a flow-guiding groove 422 corresponding to the nozzle 221, the push rod 43 is provided with a compensation groove 431 communicating with the flow-guiding groove 422, the compensation groove 431 is provided with a flow-guiding surface 432, and the flow-guiding surface 432 is parallel to the trumpet-shaped structure 2212.

[0057] Specifically, the diversion channel 422 guides the water flow, allowing it to flow along a specific area, thereby controlling the water flow in that area and improving the efficiency of the water entering the nozzle 221. As the sliding distance of the nozzle 221 increases, the distance between the limiting plate 42 and the nozzle 221 increases, which in turn supplements the diversion channel 422 through the compensation channel 431 on the push rod 43, allowing the water flow to enter the compensation channel 431 from the diversion channel 422 and then enter the trumpet-shaped structure 2212 of the nozzle 221 through the compensation channel 431. This promotes the converging effect of the trumpet-shaped structure 2212 on the water flow, thereby ensuring the flow rate and velocity of the water entering the nozzle 221.

[0058] In this embodiment, the rotating ring 44 is provided with a guide plate 443 that rotates in the opposite direction to the rotating groove 441, and the guide plate 443 is spiral in shape 4431.

[0059] Specifically, the rotating ring 44 rotates through the cooperation of the drive block 224 and the rotating groove 441, and the rotating ring 44 and the rotating groove 441 rotate in opposite directions. At this time, the water flow impacts the guide plate 443, which rotates in the same direction as the rotating ring 44, thereby assisting the drive block 224 in driving the rotating ring 44 to rotate, improving the smoothness of the rotation of the rotating ring 44. At the same time, the guide plate 443 is spiral in shape 4431, which guides the direction of water flow and guides the water flow into the trumpet-shaped structure 2212 of the nozzle 221, thereby increasing the water flow velocity, ensuring water flow rate, and thus ensuring cleaning efficiency.

[0060] In this embodiment, the stepped structure 4421 is provided with an arc surface 4422, and the support rod 45 is provided with an arc surface 4422 that cooperates with the adjusting block 442;

[0061] Specifically, the arc surface 4422 and the hemispherical structure work together to reduce the friction between the adjusting block 442 and the support rod 45, so that the support rod 45 can pull the nozzle 222 to deflect at an angle through the deflection plate 47. At the same time, it is convenient for the rotating ring 44 to push the support rod 45 to reset through the adjusting block 442 when the ring 44 is reset, thereby improving the transmission efficiency and reducing the transmission loss.

[0062] In this embodiment, the deflection plate 47 is provided with a baffle plate 471, which is located above the ball joint groove 2211;

[0063] Specifically, the baffle plate 471 is used to block the water flow and the scale that is washed off during cleaning, so as to prevent the scale from falling at the connection between the nozzle 222 and the spray pipe 221, which would cause the nozzle 222 to get stuck and affect the angle adjustment effect of the nozzle 222.

[0064] In this embodiment, the adjustment assembly 5 includes a drive wheel 51, a transmission shaft 52, a driven wheel 53, a drive plate 54, a fixed plate 55, and a limiting shaft 56; the drive wheel 51 is rotatably connected to the spray ring 22 and meshes with the turntable 41; a driven wheel 53 is provided on one side of the drive wheel 51, and the drive wheel 51 and the driven wheel 53 are connected by the transmission shaft 52; the driven wheel 53 is rotatably installed in the adjustment cavity 223, and the driven wheel 53 meshes with the drive plate 54; The drive plate 54 is rotatably connected to the adjustment cavity 223. The drive plate 54 has an arc-shaped groove 541 and a fixing plate 55 on one side. The fixing plate 55 is fixedly connected to the adjustment cavity 223 and has a straight groove 551. A limiting shaft 56 is provided between the fixing plate 55 and the drive plate 54. The two ends of the limiting shaft 56 are located in the arc-shaped groove 541 and the straight groove 551, respectively, and the middle end of the limiting shaft 56 is fixedly connected to the gear shift plate 6.

[0065] Specifically, the drive wheel 51 is rotatably connected to the spray ring 22 and meshes with the turntable 41; a driven wheel 53 is provided on one side of the drive wheel 51, and the drive wheel 51 and the driven wheel 53 are connected by a transmission shaft 52; the driven wheel 53 is rotatably installed in the adjustment cavity 223 and meshes with the drive plate 54; the drive plate 54 is rotatably connected to the adjustment cavity 223, and an arc-shaped groove 541 is provided on the drive plate 54, and a fixing plate 55 is provided on one side of the drive plate 54; the fixing plate 55 is fixedly connected to the adjustment cavity 223, and a straight groove 551 is provided on the fixing plate 55, and a limiting shaft 56 is provided between the fixing plate 55 and the drive plate 54; the two ends of the limiting shaft 56 are located in the arc-shaped groove 541 and the straight groove 551 respectively, and the middle end of the limiting shaft 56 is fixed to the gear shift plate 6. Connection; When the turntable 41 rotates, it meshes with the drive wheel 51 through the teeth on the outer circumference, thereby driving the drive wheel 51 to rotate. When the drive wheel 51 rotates, it drives the driven wheel 53 to rotate synchronously through the transmission shaft 52. The driven wheel 53 meshes with the drive plate 54, thereby causing the drive plate 54 to rotate. The drive plate 54 pushes the limit shaft 56 to slide through the arc groove 541. The limit shaft 56 ensures its own movement trajectory through the straight groove 551 on the fixed plate 55. When the limit shaft 56 slides, it drives the speed plate 6 to slide out, thereby changing the inner diameter of the spray ring 22, thereby increasing the pressure on the water flow, thereby increasing the flow speed of the water flow, thereby ensuring the flow speed of the water flow when entering the nozzle 222, and ensuring the cleaning efficiency of the nozzle 222.

[0066] In this embodiment, the gear shift plate 6 forms a regular polygonal structure 61, and the cross-section of the gear shift plate 6 is an elliptical structure 62.

[0067] Specifically, the regular polygonal structure 61 can provide a more uniform water flow distribution. At the same time, the regular polygonal structure 61 can reduce the eddy phenomenon of water flow at the corners, thereby reducing energy loss and improving water flow efficiency. The elliptical structure 62 of the speed plate 6 is used to reduce the relative resistance between itself and the water flow, thereby ensuring the flow speed of the water flow. At the same time, the elliptical structure 62 improves the smoothness between the spray ring 22 and the speed plate 6, so that the spray ring 22 forms a structure similar to a Laval tube, thereby accelerating the water flow.

[0068] In this embodiment, the gear shift plate 6 is provided with an arc-shaped hole 63;

[0069] Specifically, when the cleaning robot is working, the spray ring 22 will rotate relative to the housing 21, thereby causing the water to flow in a spiral. At this time, the intensity of the spiral flow of the water is enhanced by the arc-shaped hole 63, thereby increasing the flow speed of the water and ensuring the speed of the water sprayed from the nozzle 222, thus ensuring cleaning efficiency.

[0070] In use, the ship pipeline cleaning robot of the present invention uses a crawler 1 to drive a high-pressure jet nozzle 2 to move inside the ship's pipeline, thereby cleaning the inner wall of the pipeline. When the cleaning robot cleans the pipeline and the inner diameter of the pipeline increases, the distance sensor 11 detects the increase in the inner diameter distance and sends an electrical signal to the control console. The control console sends an electrical signal to drive the motor 3 to start rotating forward. The rotation of the drive motor 3 drives the turntable 41 to rotate synchronously. When the turntable 41 rotates, it presses the push rod 43 through the drive groove 411. The push rod 43 slides horizontally under the action of the limiting groove 421 of the limiting plate 42. The push rod 43 slides along the outer circumference, thereby driving the rotating ring 44 to slide synchronously. 44 drives the nozzle 221 to slide synchronously, the nozzle 221 drives the nozzle 222 to move synchronously, the nozzle 222 drives the deflection plate 47 to move synchronously, the deflection plate 47 drives the support rod 45 to move, and at the same time, the rotating ring 44 pushes the support rod 45 synchronously; when the rotating ring 44 slides horizontally, the spiral groove on it is relatively pressed against the drive block 224, which in turn drives the rotating ring 44 to rotate. When the rotating ring 44 rotates, the distance between the adjusting block 442 and the support rod 45 increases, the adjusting block 442 no longer presses the support rod 45, and the support rod 45 slides along the direction of the rotating ring 44 under the action of the compression spring 46, which in turn pulls the deflection plate 47 to deflect, and the deflection plate 47 drives the nozzle 222 to deflect for angle adjustment;

[0071] When the turntable 41 rotates, it meshes with the drive wheel 51 through the teeth on the outer side of the circumference, thereby driving the drive wheel 51 to rotate. When the drive wheel 51 rotates, it drives the driven wheel 53 to rotate synchronously through the transmission shaft 52. The driven wheel 53 meshes with the drive plate 54, thereby causing the drive plate 54 to rotate. The drive plate 54 pushes the limit shaft 56 to slide through the arc groove 541. The limit shaft 56 ensures its own movement trajectory through the straight groove 551 on the fixed plate 55. When the limit shaft 56 slides, it drives the gear plate 6 to slide out.

[0072] When the inner diameter of the pipe changes from large to small during operation, the drive motor 3 reverses, and the working principle of the other mechanisms is the same as above.

[0073] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A ship pipeline cleaning robot, characterized in that: It includes a crawler (1), a high-pressure jet nozzle (2), a drive motor (3), a rotating assembly (4), an adjusting assembly (5), and a speed plate (6); A distance sensor (11) is fixedly installed on the crawler (1), and the crawler (1) is connected to the high-pressure jet nozzle (2); The high-pressure jet nozzle (2) consists of a housing (21) and a spray ring (22). The housing (21) is fixedly connected to the crawler (1), and the spray ring (22) is rotatably connected to the housing (21). The spray ring (22) has a ring array of spray pipes (221), and the spray pipes (221) are rotatably mounted with nozzles (222). A drive motor (3) is installed inside the spray ring (22). A rotating component (4) is provided on one side of the drive motor (3). The rotating component (4) is fixedly connected to the nozzle (221). When the high-pressure jet nozzle (2) is working, the rotating component (4) drives the nozzle (221) to slide horizontally, thereby adjusting the distance between the nozzle (222) and the inner diameter of the pipe. The rotating assembly (4) includes a turntable (41), a limiting plate (42), a push rod (43), a rotating ring (44), a support rod (45), a compression spring (46), and a deflection plate (47). The turntable (41) is rotatably mounted on the inner wall of the spray ring (22), the turntable (41) is fixedly mounted on the drive motor (3), the turntable (41) has a drive groove (411) arranged in a ring, the turntable (41) is provided with wheel teeth, and a limiting plate (42) is provided on one side of the turntable (41). The limiting plate (42) is fixedly installed on the inner wall of the spray ring (22). The limiting plate (42) is provided with a limiting groove (421) that cooperates with the drive groove (411). A push rod (43) is provided between the limiting plate (42) and the turntable (41). One end of the push rod (43) is located in the drive groove (411), and the other end of the push rod (43) is located in the limiting groove (421). The end of the push rod (43) located in the limiting groove (421) is rotatably connected to the rotating ring (44). The rotating ring (44) is rotatably connected to the nozzle (221). The rotating ring (44) has a rotating groove (441). The inner wall of the nozzle (22) is provided with a driving block (224) that cooperates with the rotating groove (441). The rotating ring (44) has an adjusting block (442) with a stepped structure (4421). A support rod (45) is provided on one side of the adjusting block (442). The support rod (45) is slidably connected to the nozzle (221) via a compression spring (46), and a deflection plate (47) is ball-jointed at one end of the support rod (45). The deflection plate (47) is fixedly connected to the nozzle (222); The spray ring (22) has an adjustment cavity (223), and the adjustment cavity (223) has an adjustment component (5). The adjustment component (5) has a speed change plate (6) inside. When the spray pipe (221) slides horizontally, the rotating component (4) drives the speed change plate (6) to deflect through the adjustment component (5), thereby increasing the water flow velocity.

2. The cleaning robot according to claim 1, characterized in that: One end of the nozzle (221) is provided with a ball joint groove (2211) and is rotatably connected to the nozzle (222), and the other end of the nozzle (221) is a trumpet-shaped structure (2212).

3. The cleaning robot according to claim 2, characterized in that: The limiting plate (42) is provided with a flow channel (422) corresponding to the nozzle (221), and the push rod (43) is provided with a compensation groove (431) communicating with the flow channel (422). The compensation groove (431) is provided with a flow surface (432), and the flow surface (432) is parallel to the trumpet-shaped structure (2212).

4. The cleaning robot according to claim 1, characterized in that: The rotating ring (44) is provided with a guide vane (443) that rotates in the opposite direction to the rotating groove (441), and the guide vane (443) is spiral in shape (4431).

5. The cleaning robot according to claim 1, characterized in that: The stepped structure (4421) has an arc surface (4422), and the support rod (45) has an arc surface (4422) that cooperates with the adjusting block (442).

6. The cleaning robot according to claim 2, characterized in that: The deflector plate (47) is provided with a baffle plate (471), which is located above the ball joint groove (2211).

7. The cleaning robot according to claim 1, characterized in that: The adjustment assembly (5) includes a drive wheel (51), a transmission shaft (52), a driven wheel (53), a drive plate (54), a fixed plate (55), and a limit shaft (56). The drive wheel (51) is rotatably connected to the spray ring (22) and meshes with the turntable (41); a driven wheel (53) is provided on one side of the drive wheel (51), and the drive wheel (51) and the driven wheel (53) are connected by a transmission shaft (52); The driven wheel (53) is rotatably mounted in the adjustment cavity (223), and the driven wheel (53) meshes with the drive plate (54); The drive plate (54) is rotatably connected to the adjustment cavity (223). An arc groove (541) is provided on the drive plate (54), and a fixing plate (55) is provided on one side of the drive plate (54). The fixing plate (55) is fixedly connected to the adjustment cavity (223), and a straight groove (551) is provided on the fixing plate (55). A limiting shaft (56) is provided between the fixing plate (55) and the drive plate (54). The two ends of the limiting shaft (56) are located in the arc groove (541) and the straight groove (551) respectively, and the middle end of the limiting shaft (56) is fixedly connected to the speed plate (6).

8. The cleaning robot according to claim 7, characterized in that: The gear shift plate (6) has a regular polygonal structure (61) and the cross-section of the gear shift plate (6) is an elliptical structure (62).

9. The cleaning robot according to claim 8, characterized in that: The gear shift plate (6) has an arc-shaped hole (63).

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