Self-walking barnacle cleaning robot for sea surface rod insertion

Abstract

The invention relates to the technical field of barnacle cleaning, in particular to a self-walking barnacle cleaning robot for sea surface rod insertion, which comprises a first bearing plate, a second bearing plate, a third bearing plate and a fourth bearing plate, a connecting bracket for connecting and fixing the first bearing plate and the second bearing plate is arranged at the rear end of the first bearing plate; one end of the connecting support is provided with a second bearing plate which is used for being matched with the first bearing plate to form a surrounding type cleaning area and meets the requirement for cleaning barnacles on the surface of the inserting rod. The rear end of the connecting support is provided with a power output assembly used for providing power for barnacle cleaning operation and driving the cleaning execution component to operate. Through the surrounding design of the first bearing plate and the second bearing plate and the cooperation of the angle adjusting function of the rotating connecting mechanism, the device can adapt to sea surface inserting rods with different diameters, self-moving in the axial direction of the inserting rods is achieved through external control, and manual diving or climbing operation is not needed.

Description

Technical Field

[0001] This invention relates to the field of barnacle cleaning technology, specifically to a self-propelled barnacle cleaning robot for use as a pole on the sea surface. Background Technology

[0002] Barnacles, common marine attachment organisms, adhere tightly to the surface of barnacle posts with their calcareous shells. Prolonged attachment not only increases the load on the posts but can also corrode the material and impair their function. Current cleaning methods largely rely on manual diving, which is inefficient, risky, and makes it difficult to precisely break the attachment structure. Stubborn barnacle residue can lead to insufficient cleaning, while forceful removal can damage the post surface, especially glass posts. Although the application of new high-strength scraper materials has improved the cleaning capability of individual components, the lack of integrated cleaning equipment adapted to the columnar structure of marine poles makes it impossible to achieve coordinated operation of "adhesion destruction - residual crushing - self-movement". This makes it difficult to balance cleaning efficiency and safety, and cannot meet the needs of large-scale and routine barnacle cleaning of marine poles. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a self-propelled barnacle cleaning robot for use on sea surface poles. It solves the problems of low cleaning efficiency, high risk, difficulty in adapting to the columnar structure of poles, and incomplete destruction and residue of barnacle attachment structures in the prior art, thereby achieving automated and precise cleaning of barnacles on sea surface poles.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a self-propelled barnacle cleaning robot for barnacle pole insertion on the sea surface, comprising a first support plate for constructing the robot's front-end support frame and adapting to the spatial layout of barnacle cleaning operations; a connecting bracket at the rear end of the first support plate for connecting and fixing the first support plate to a second support plate and providing an installation reference for the power output component to ensure stable power transmission for barnacle cleaning; a second support plate at one end of the connecting bracket for cooperating with the first support plate to form an encircling cleaning area, adapting to the barnacle cleaning requirements on the surface of the pole; the first and second support plates are connected by a rotating connecting mechanism that allows for angle adjustment to adapt to barnacle cleaning operations with pole structures of different sizes; the first and second support plates and the connecting bracket are connected by a detachable fastening component to ensure the stability of the connection and prevent the cleaning effect from being affected by loosening of components during barnacle cleaning; glass poles for barnacle cleaning are provided inside the first and second support plates and the connecting bracket; and a power output component at the rear end of the connecting bracket is provided for providing power for barnacle cleaning operations and driving the cleaning execution component.

[0005] As a further optimization of the above technical solution, the power output assembly includes a mounting base for fixing and installing the reduction gear and ensuring the coaxiality of the power transmission components; the mounting base is fixedly connected to the rear end of the connecting bracket; the rear end of the mounting base is fixedly connected to a reduction gear for adjusting the output speed and torque of the power source; the top of the reduction gear is fixedly connected to a power source for providing initial power for barnacle cleaning operations; the output end of the reduction gear is fixedly connected to a first transmission wheel for transmitting the power of the reduction gear, and the first transmission wheel rotates in cooperation with the connecting bracket; the connection between the power source and the reduction gear is provided with a waterproof sealing ring for ensuring a seal.

[0006] As a further optimization of the above technical solution, the outer ring of the first transmission wheel is meshed with a second transmission wheel for changing the direction of power transmission; the outer ring of the second transmission wheel is meshed with a third transmission wheel for further splitting the flow force.

[0007] As a further optimization of the above technical solution, the first bearing plate, the second bearing plate and the connecting bracket are respectively fixedly connected to rotating support members; the outer ring of the rotating support member is fixedly connected to an assembly block for installing matching components.

[0008] As a further optimization of the above technical solution, the second transmission wheel and the third transmission wheel are respectively fixedly connected with a second rolling actuator.

[0009] As a further optimization of the above technical solution, the assembly block is connected to the first bearing plate, the second bearing plate, and the connecting bracket by fastening connectors to prevent the assembly block from shifting during barnacle cleaning.

[0010] As a further optimization of the above technical solution, the connecting bracket, the first bearing plate, and the second bearing plate are rotatably connected with evenly distributed rotating support columns for supporting the operation of the first crushing actuator; the outer ring of the rotating support columns is fixedly connected with the first crushing actuator for peeling barnacles.

[0011] As a further optimization of the above technical solution, the first support plate and the second support plate are respectively fixedly connected with pointed peeling components for prying barnacles.

[0012] Working Principle: The robot is moved to the pole to be cleaned on the sea surface. The detachable fastening components are loosened, and the two bearing plates are opened around the rotating connecting mechanism. After being fitted into the designated position on the pole, the detachable fastening components are tightened, so that the pointed peeling component and the crushing actuator are in contact with the surface of the pole. The power source is started, and the power is reduced and increased in torque by the reduction device to drive the first transmission wheel to rotate. Through meshing, the second and third transmission wheels are driven to rotate synchronously, which in turn drives the second crushing actuator to rotate. The first crushing actuator moves with the robot along the axis of the pole and is passively rotated under the action of friction on the surface of the pole. The blade of the pointed peeling component cuts into the attachment gap between the barnacle and the pole. By moving and prying, it destroys the attachment structure, causing some barnacles to fall off directly. Stubborn barnacles are loosened and move with the robot into the crushing area. The first and second crushing actuators work together to crush the remaining barnacle shells to a diameter of <2mm, ensuring that there are no residues on the surface of the pole. When the blade of the pointed peeling component is worn or the surface of the crushing actuator is deformed, the corresponding bolts can be loosened for disassembly and replacement without disassembling the overall frame.

[0013] This invention provides a self-propelled barnacle cleaning robot for use with poles inserted into the sea surface. It has the following beneficial effects: 1. This invention, through the encircling design of the first and second support plates and the angle adjustment function of the rotating connection mechanism, can be adapted to sea surface poles of different diameters. It can achieve self-movement along the axial direction of the pole through external control, eliminating the need for manual diving or climbing operations, greatly reducing the safety risks of marine operations. At the same time, it can achieve long-term continuous cleaning, meeting the cleaning needs of large-scale sea surface poles.

[0014] 2. In this invention, the first bearing plate, the second bearing plate and the connecting bracket are connected by detachable fastening components. Easily damaged parts such as the pointed peeling component and the crushing actuator can be quickly replaced by removing the bolts. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram of the transmission wheel structure of the present invention.

[0016] The components include: 1. First bearing plate; 2. Second bearing plate; 3. Rotary connecting mechanism; 4. Reduction device; 5. Power source; 6. Glass insert rod; 7. Pointed peeling component; 8. Assembly block; 9. Detachable fastening component; 10. Fastening connector; 11. Rotary support component; 12. Rotary support column; 13. First rolling actuator; 14. Second rolling actuator; 15. Mounting base; 16. First transmission wheel; 17. Second transmission wheel; 18. Third transmission wheel; and 19. Connecting bracket. Detailed Implementation

[0017] 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.

[0018] Example: like Figure 1-3 As shown, this embodiment of the invention provides a self-propelled barnacle cleaning robot for use on sea surface poles, including a first support plate 1 for constructing the robot's front-end support frame and adapting to the barnacle cleaning operation space layout. The rear end of the first support plate 1 is provided with a connecting bracket 19 for connecting and fixing the first support plate 1 and a second support plate 2, and for providing an installation reference for the power output components to ensure stable power transmission for barnacle cleaning. One end of the connecting bracket 19 is provided with a second support plate 2 for cooperating with the first support plate 1 to form a wraparound cleaning area, adapting to the barnacle cleaning requirements on the pole surface. The first support plate 1 and the second support plate 2... The two support plates 2 are connected by a rotating connection mechanism 3 that allows for angle adjustment, so as to adapt to barnacle cleaning operations with different sized insert rod structures; the first support plate 1, the second support plate 2 and the connecting bracket 19 are connected by a detachable fastening component 9 to ensure the stability of the connection between the three and to avoid the cleaning effect being affected by the loosening of the components during the barnacle cleaning process; the first support plate 1, the second support plate 2 and the connecting bracket 19 are provided with insert rods 6 for the glass to be cleaned by barnacles; the rear end of the connecting bracket 19 is provided with a power output component for providing power for the barnacle cleaning operation and driving the cleaning execution component to operate.

[0019] The first bearing plate 1 and the second bearing plate 2 are connected by a rotating connecting mechanism 3. The two plates of the rotating connecting mechanism 3 are fixed to the adjacent end faces of the two bearing plates by bolts. Then, the connecting bracket 19 is placed at the rear end of the first bearing plate 1 and the second bearing plate 2. The three pre-set threaded holes are passed through the detachable fastening component 9 and tightened to form a stable ring-shaped bearing frame.

[0020] The power output assembly includes a mounting base 15 for fixing the reduction gear 4 and ensuring the coaxiality of the power transmission components; the mounting base 15 is fixedly connected to the rear end of the connecting bracket 19; the rear end of the mounting base 15 is fixedly connected to the reduction gear 4 for adjusting the output speed and torque of the power source 5; the top of the reduction gear 4 is fixedly connected to the power source 5 for providing initial power for barnacle cleaning operations; the output end of the reduction gear 4 is fixedly connected to a first transmission wheel 16 for transmitting the power of the reduction gear 4, and the first transmission wheel 16 rotates with the connecting bracket 19; the connection part between the power source 5 and the reduction gear 4 is provided with a waterproof sealing ring to ensure sealing, so that the robot can enter the sea below the surface along the direction of the glass insertion rod.

[0021] Weld the mounting base 15 to the rear end of the connecting bracket 19 to ensure that the mounting surface is flat; fix the reduction gear 4 to the mounting base 15 with bolts, fix the power source 5 to the top of the reduction gear 4, and connect the output shaft of the power source 5 and the input shaft of the reduction gear 4 coaxially through a coupling; fix the first transmission wheel 16 to the output end of the reduction gear 4 through a key connection to ensure that it is compatible with the preset rotation groove of the connecting bracket 19.

[0022] The outer ring of the first transmission wheel 16 is engaged with a second transmission wheel 17 for changing the direction of power transmission; the outer ring of the second transmission wheel 17 is engaged with a third transmission wheel 18 for further diverting the flow force; the second transmission wheel 17 and the third transmission wheel 18 are respectively fixedly connected with second rolling actuators 14.

[0023] The second drive wheel 17 and the third drive wheel 18 are installed inside the connecting bracket 19 via the rotating support 11. Their positions are adjusted so that the first drive wheel 16 meshes with the second drive wheel 17, and the second drive wheel 17 meshes with the third drive wheel 18, with the meshing gap controlled at 0.1-0.2 mm. The second compaction actuator 14 is fixed to the inner holes of the second drive wheel 17 and the third drive wheel 18 via a key connection. The rotating support column 12 passes through a pre-set hole in the bearing frame, and the first compaction actuator 13 is fixed to the outer ring of the rotating support column 12 via an interference fit, ensuring that it is coplanar with the outer surface of the second compaction actuator 14.

[0024] Rotary support members 11 are fixedly connected inside the first support plate 1, the second support plate 2 and the connecting bracket 19 respectively; an assembly block 8 for installing matching components is fixedly connected to the outer ring of the rotating support member 11. The assembly block 8 is connected to the first support plate 1, the second support plate 2 and the connecting bracket 19 through a fastening connector 10 to prevent the assembly block 8 from shifting during the barnacle cleaning process.

[0025] The connecting bracket 19, the first bearing plate 1, and the second bearing plate 2 are internally rotatably connected to rotating support columns 12 that are evenly distributed to support the operation of the first crushing actuator 13; the outer ring of the rotating support column 12 is fixedly connected to the first crushing actuator 13 for peeling barnacles.

[0026] The first support plate 1 and the second support plate 2 are respectively fixedly connected with pointed peeling components 7 for prying barnacles. The pointed peeling components 7 are fixed to the inner sidewalls of the two support plates with bolts, with the cutting edge facing the cleaning direction. The spacing between adjacent components is 5-8mm to cover the circumference of the insertion rod.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-propelled barnacle cleaning robot for use with barnacles on the sea surface, comprising a first support plate (1) for constructing the robot's front-end support frame and adapting to the spatial layout of barnacle cleaning operations, characterized in that: The first support plate (1) is provided with a connecting bracket (19) at its rear end for connecting and fixing the first support plate (1) and the second support plate (2) and providing an installation reference for the power output component to ensure stable power transmission for barnacle cleaning; one end of the connecting bracket (19) is provided with a second support plate (2) for cooperating with the first support plate (1) to form an encircling cleaning area and adapting to the barnacle cleaning requirements on the surface of the insertion rod; the first support plate (1) and the second support plate (2) are connected by a rotating connecting mechanism (3) that can achieve angle adjustment to adapt to barnacle cleaning operations with different sizes of insertion rod structures; The first support plate (1), the second support plate (2) and the connecting bracket (19) are connected by a detachable fastening component (9) to ensure the stability of the connection between the three and to avoid the cleaning effect being affected by the loosening of the components during the barnacle cleaning process; the first support plate (1), the second support plate (2) and the connecting bracket (19) are provided with glass insert rods (6) for barnacle cleaning objects; the rear end of the connecting bracket (19) is provided with a power output component for providing power for barnacle cleaning operation and driving the cleaning execution component to operate.

2. The self-propelled barnacle cleaning robot for use with poles inserted on the sea surface according to claim 1, characterized in that: The power output assembly includes a mounting base (15) for fixing the speed reduction device (4) and ensuring the coaxiality of the power transmission components; the mounting base (15) is fixedly connected to the rear end of the connecting bracket (19); the rear end of the mounting base (15) is fixedly connected to the speed reduction device (4) for adjusting the output speed and torque of the power source (5); the top of the speed reduction device (4) is fixedly connected to the power source (5) for providing initial power for barnacle cleaning operations; the output end of the speed reduction device (4) is fixedly connected to the first transmission wheel (16) for transmitting the power of the speed reduction device (4), and the first transmission wheel (16) is rotatably engaged with the connecting bracket (19); the connection part between the power source (5) and the speed reduction device (4) is provided with a waterproof sealing ring for ensuring a seal.

3. The self-propelled barnacle cleaning robot for use with poles inserted on the sea surface according to claim 2, characterized in that: The outer ring of the first transmission wheel (16) is engaged with a second transmission wheel (17) for changing the direction of power transmission; the outer ring of the second transmission wheel (17) is engaged with a third transmission wheel (18) for further splitting the flow force.

4. The self-propelled barnacle cleaning robot for use with poles inserted on the sea surface according to claim 1, characterized in that: The first bearing plate (1), the second bearing plate (2) and the connecting bracket (19) are respectively fixedly connected to rotating support members (11); the outer ring of the rotating support member (11) is fixedly connected to an assembly block (8) for installing matching components.

5. A self-propelled barnacle cleaning robot for use with poles inserted on the sea surface, as described in claim 3, characterized in that: The second transmission wheel (17) and the third transmission wheel (18) are respectively fixedly connected to the second rolling actuator (14).

6. A self-propelled barnacle cleaning robot for use with poles inserted on the sea surface according to claim 4, characterized in that: The assembly block (8) is connected to the first bearing plate (1), the second bearing plate (2), and the connecting bracket (19) by fastening connectors (10) to prevent the assembly block (8) from shifting during the barnacle cleaning process.

7. A self-propelled barnacle cleaning robot for use with poles inserted on the sea surface according to claim 1, characterized in that: The connecting bracket (19), the first bearing plate (1), and the second bearing plate (2) are rotatably connected with evenly distributed rotating support columns (12) for supporting the operation of the first crushing actuator (13); the outer ring of the rotating support column (12) is fixedly connected with the first crushing actuator (13) for peeling barnacles.

8. A self-propelled barnacle cleaning robot for use with poles inserted on the sea surface according to claim 1, characterized in that: The first support plate (1) and the second support plate (2) are respectively fixedly connected with pointed peeling components (7) for prying barnacles.

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