Hull cleaning robot

Abstract

The application discloses a hull cleaning robot, which comprises a center framework, a moving module and a locking module. The center framework adopts a low and open truss structure and serves as a core bearing platform of the robot. The moving module is symmetrically distributed at four corners of the center framework and comprises a strong magnetic wheel and a dynamic suspension mechanism connected between the center framework and the strong magnetic wheel. The locking module is installed at the bottom of the center framework. The hull cleaning robot is provided to overcome the existing defects. Through the low and open design of the whole machine, the robot is hidden in the turbulent boundary layer with low flow rate, so that the water flow frontal impact force and lift are greatly reduced. The open chassis reduces the weight and does not hold water. Each magnetic wheel can independently float up and down to form a "flexible plane", so that the four wheels are always close to the hull. The robot can overcome obstacles and prevent falling. When the front wheel is pressed to overcome obstacles, the posture of the center framework and the rear wheel remains unchanged, so that the "bridge effect" of the whole machine being lifted is avoided.

Description

Technical Field

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

[0002] Large ships sailing at sea are typically exposed to the marine environment for extended periods. Throughout their entire lifecycle, including sailing and anchoring, a large amount of marine organisms, microorganisms, and fouling (such as biofilms) accumulate on their hulls. These deposits exacerbate the roughness of the hull's outer surface, increasing drag and creating a double whammy of reduced speed and increased fuel consumption.

[0003] Traditional underwater cleaning robots often use a complete disc-shaped or streamlined shell. When crossing hull welds or areas with large curvature changes, the edge of the shell is prone to touching the hull first (i.e., a "bridging" effect occurs), causing the internal magnetic components to be lifted up as a whole, instantly losing their adsorption force and falling off. At the same time, their bodies are often too tall or the shell area is too large, which easily generates huge hydrodynamic lift and drag.

[0004] Therefore, a ship hull cleaning robot was proposed to address the above issues. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a ship hull cleaning robot that can solve the problems mentioned in the background art of traditional cleaning robots being prone to bridging and falling off, and having excessive lift resistance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a ship hull cleaning robot, comprising: The central frame, using a low, open truss structure, serves as the core load-bearing platform for the robot. The moving modules are symmetrically distributed at the four corners of the central frame. Each moving module includes a strong magnetic chuck and a dynamic suspension mechanism connecting the central frame and the strong magnetic chuck. The locking module is installed at the bottom front and rear ends of the central frame and is used to lock to the hull surface when the vehicle is parked. A vision module is embedded inside the leading edge of the central frame to acquire environmental image information in front of the hull. A cleaning module is installed in the middle of the central frame. The cleaning module includes a cleaning head and a constant force suspension bracket connecting the central frame and the cleaning head.

[0007] Preferably, the central frame is made of aluminum alloy, with mounting ears around it for hinged connection of the mobile module, a cabin structure in the middle for accommodating the battery, electronic control unit and communication module, and a pre-reserved cleaning cartridge guide rail for installing the cleaning module.

[0008] Preferably, the strong magnetic chuck in the moving module includes a thick permanent magnet core and a soft outer ring elastic body wrapped around the thick permanent magnet core; the strong magnetic chuck has a built-in hub motor for driving its rotation.

[0009] Preferably, the dynamic suspension mechanism includes a main support arm and a secondary support arm; the first end of the main support arm is rotatably connected to the central frame, and the second end of the main support arm is connected to the axle of the strong magnetic chuck; one end of the secondary support arm is rotatably connected to the rod of the main support arm, and the other end is rotatably connected to the central frame; a preload spring is provided inside the secondary support arm, so that the strong magnetic chuck has a micro-compliant ability to float in the vertical direction.

[0010] Preferably, the secondary support arm is composed of hollow rods and connecting rods that are nested together, and the two ends of the preload spring are fixedly connected to the hollow rods and the connecting rods respectively.

[0011] Preferably, the locking module includes a telescopic cylinder, a locking foot, and a guide seat; the telescopic cylinder is fixed to the central frame, and the locking foot extends along the guide seat under the drive of the telescopic cylinder to abut against the hull surface and generate static friction.

[0012] Preferably, it also includes a flow guide installed at the front edge of the central frame; the flow guide is an arc-shaped splash guard structure, used to reduce the direct impact of high-speed water flow on internal components.

[0013] Preferably, the vision module includes a binocular vision module and a streamlined transparent fairing; the transparent fairing is smoothly connected to the air guide and has a supplementary light array integrated on its side; the central frame is equipped with a vision processing unit that is electrically connected to the vision module.

[0014] Preferably, the cleaning head of the cleaning module includes a flexible roller brush and a flexible squeegee strip located behind the flexible roller brush; the constant force suspension bracket includes a main frame, a movable frame, and a suspension component; the movable frame is connected between the main frame and the flexible roller brush, and the flexible squeegee strip is hinged to the main frame; the suspension component is disposed between the movable frame and the main frame and between the flexible squeegee strip and the main frame.

[0015] Preferably, the suspension component includes a hinged rod and a sleeved rod that are nested together, and an energy-generating spring connected between the two, so that the flexible roller brush and the flexible squeegee are attached to the hull surface with constant light pressure.

[0016] Compared with the prior art, the beneficial effects of the present invention are: through the low-profile design of the whole machine, it is hidden in the turbulent boundary layer with low flow velocity, which greatly reduces the frontal impact force and lift of the water flow; the open chassis reduces weight and does not trap water; and each magnetic wheel can float up and down independently to form a "compliant plane" to ensure that all four wheels are always in close contact with the hull; obstacle crossing and anti-falling: when the front wheel is under pressure while crossing an obstacle, the frame and rear wheel attitude remain unchanged, eliminating the "bridging effect" of the whole machine being lifted up. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall bottom structure of the present invention; Figure 3 This is an exploded view of the mobile module structure of the present invention; Figure 4 This is a schematic diagram of the cleaning module structure of the present invention; Figure 5 This is an exploded view of the suspension component structure of the present invention.

[0018] In the diagram: 1. Central frame; 2. Flow guide; 3. Vision module; 4. Locking module; 41. Telescopic cylinder; 42. Locking foot; 43. Guide seat; 5. Moving module; 51. Strong magnetic suction wheel; 52. Main support arm; 53. Secondary support arm; 531. Hollow rod; 532. Connecting rod; 533. Preload spring; 6. Cleaning module; 61. Main frame; 62. Flexible roller brush; 63. Flexible squeegee; 64. Movable frame; 65. Suspension component; 651. Hinge rod; 652. Energy spring; 653. Sleeve rod. Detailed Implementation

[0019] 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.

[0020] like Figures 1 to 5 As shown, the ship hull cleaning robot: It consists of a central frame 1, a moving module 5, a locking module 4, a flow guide 2, a vision module 3, and a cleaning module 6.

[0021] The robot abandons the traditional full-shell design, adopting a low-profile, open-frame chassis architecture. The movement modules 5 are symmetrically distributed at the four corners of the central frame 1; the locking modules 4 are installed at the bottom front and rear ends of the central frame 1; the vision module 3 is embedded inside the leading edge guide 2 of the central frame 1; and the cleaning module 6 is installed in the middle of the central lightweight frame. Precise control of the overall height allows it to operate discreetly within a low-velocity boundary layer.

[0022] Example 1: Structure and Connection of the Central Frame 1: As the core support platform of the robot, it adopts a low-profile, open truss structure made of aluminum alloy or carbon fiber. Mounting lugs are provided around the frame for hinged movement modules 5. Locking modules 4 are installed at the front and rear ends of the bottom. The middle section carries the battery, control board, communication module, sensors, and vision processing unit, and has reserved a cleaning cartridge guide rail.

[0023] Working principle and beneficial effects: The open-frame design eliminates the heavy and lift-generating solid shell, significantly reducing the overall weight of the robot. The low and open platform is the basis for achieving the ultra-low attitude of the entire robot, allowing it to "lie" within the turbulent boundary layer, thereby minimizing the scouring and lifting forces of the external mainstream.

[0024] Example 2: Structure and Connection of Moving Module 5: A strong magnetic chuck 51 is dynamically connected to the central frame 1 via the main support arm 52 and the secondary support arm 53. The strong magnetic chuck 51 contains a thick permanent magnet core and is wrapped with a thin, soft outer ring elastic body. The axle is connected to the end of the main support arm 52 and is driven by a motor built into the hub.

[0025] Working principle and beneficial effects: The thick magnetic core provides strong normal adsorption force, ensuring it does not detach under high-speed water flow. The soft outer ring design not only conforms to minor unevenness to increase friction, but also effectively buffers the direct impact of the hard magnetic core on the antifouling coating of the hull, achieving non-destructive adsorption.

[0026] In a specific embodiment: the structure and connection relationship of the main support arm 52 and the auxiliary support arm 53 are as follows: the end of the main support arm 52, which is provided with a strong magnetic chuck wheel 51, is rotatably connected to the central frame 1, and a convex shaft is provided on the rod body of the main support arm 52, which is rotatably connected to the auxiliary support arm 53. The end of the auxiliary support arm 53 is also rotatably connected to the ear seat of the central frame 1. The auxiliary support arm 53 is composed of a connecting rod 532 rotatably connected to the central frame 1 and a hollow rod 531 rotatably connected to the main support arm 52. After the hollow rod 531 and the connecting rod 532 are sleeved together, a preload spring 533 is added at the connection point. The two ends of the preload spring 533 are fixedly connected to the connecting rod 532 and the hollow rod 531, respectively.

[0027] Working principle and beneficial effects: Micro-compliance capability: The main support arm 52 and the auxiliary support arm 53 work together to allow each strong magnetic pulley 51 to float up and down by one to three millimeters, forming a "compliant plane" that allows each wheel to be independently fine-tuned and perfectly fits the curvature of the hull.

[0028] To address the "bridging" effect: When encountering a hull weld, the front wheel goes onto the weld first, and the main support arm 52 and auxiliary support arm 53 are compressed and move aside. At this time, the central frame 1 and the rear wheel still maintain their original height and are stably attached. The same principle applies when the front wheel crosses over and the rear wheel follows. The open frame design, combined with independent suspension, gives the robot the ability to overcome obstacles and prevent it from falling off.

[0029] Example 3: Structure and connection relationship of locking module 4: Retractable locking modules 4 are configured at the front and rear ends of the chassis of the central frame 1.

[0030] Working principle and beneficial effects: When the robot stops or encounters strong surge disturbances, the telescopic cylinder 41 is activated, pushing the locking foot 42 to extend along the guide seat 43 on the side of the central frame 1. At this time, the locking foot 42 extends and firmly "nails" the entire machine to the hull. Because the locking foot 42 directly contacts the hull, it generates a large static friction force and even small deformation interlock, which can provide a "completely stationary" state, prevent slippage, and greatly improve the parking safety of the system.

[0031] Example 4: The flow guide 2 is installed on the front edge of the central frame 1 and adopts an arc-shaped splash guard or flow guide plate design.

[0032] Working principle and beneficial effects: While retaining the advantages of the open chassis, the local flow guide 2 can effectively reduce local flow, prevent high-speed water flow from directly impacting the internal wiring harness and mechanism gaps, avoid the formation of strong separation vortices, and at the same time, it does not increase the overall load-bearing capacity and hydrodynamic lift of the machine.

[0033] Example 5: Structure and connection of vision module 3: It includes a miniature binocular vision module, which is embedded in the leading edge guide 2 of the central skeleton 1; the outside is covered with a streamlined transparent fairing with an anti-fouling coating; miniature high-brightness fill light array pulse strobe mode is integrated on both sides of the camera; a lightweight vision processing unit is added in the central skeleton electronic control cabin.

[0034] Working principle and beneficial effects: Obstacle perception: The vision system identifies welds or obstacles within one to two meters ahead in advance and transmits the data to the main control board. The main control board then adjusts the travel speed accordingly and prepares for the micro-compliance action of the independent suspension, reducing the risk of loss of contact due to high-speed collisions.

[0035] Intelligent inspection: During the inspection process, the ship's surface is continuously photographed to assess the thickness and distribution of the biofilm, generate a heat map of the ship's cleanliness, and guide the work of cleaning module 6.

[0036] Extremely low water resistance: The streamlined transparent fairing and the leading edge guide 2 transition smoothly, giving the robot environmental perception capabilities without increasing the overall height and water resistance.

[0037] Example 6: Structure and Connection of Cleaning Module 6: The reserved cleaning cartridge guide rail is installed in the middle of the central frame 1. The cleaning head comprises a flexible roller brush 62 made of high-density microfiber and a rear-mounted flexible squeegee 63. The cleaning head is dynamically connected to the central frame 1 via a constant-force suspension bracket composed of the main frame 61, a movable frame 64, and a suspension component 65, allowing the flexible roller brush 62 and the flexible squeegee 63 to have certain vertical properties. The two ends of the movable frame 64 are rotatably connected to the main frame 61 and the flexible roller brush 62, respectively, while the flexible squeegee 63 is directly hinged to the main frame 61. Suspension components 65 are added between the wiping strip 63 and the main frame 61, and between the flexible roller brush 62 and the main frame 61. The dynamic suspension effect is achieved by using the energy spring 652 of the suspension component 65. The suspension component 65 consists of a hinge rod 651 that is rotatably connected to the movable frame 64 or the flexible wiping strip 63, and a sleeve rod 653 that is connected to the main frame 61. The sleeve rod 653 and the hinge rod 651 are sleeved together. Similarly, an energy spring 652 is added to further connect the hinge rod 651 and the sleeve rod 653.

[0038] Working principle and beneficial effects: Gentle Removal: Designed for gentle removal of sludge and early-stage soft biofilm without abrasive abrasion. The constant-force suspension bracket ensures the roller brush always adheres to the hull with light, constant pressure, preventing "hard pressure" even when crossing weld seams.

[0039] Dual cleaning: The front flexible roller brush 62 loosens and absorbs the mud and biofilm from the coating, while the rear flexible squeegee 63 thoroughly scrapes away the residual dirt from the hull surface and carries it away with the high-speed water flow, protecting the anti-fouling coating of the hull.

[0040] Example 7: When the ship is cruising at a stable speed, the deck crew will put the robot into the water and pull it to the side of the ship.

[0041] Adhesion and Movement: The robot is firmly attached to the ship's steel hull using strong magnetic wheels 51. The robot is completely hidden within the boundary layer, resulting in minimal water resistance. An internal motor drives the magnetic wheels to rotate, enabling controlled movement of the robot on the ship's surface.

[0042] Intelligent perception and obstacle crossing: The lightweight vision module 3 scans the surface of the hull in front in real time. When a weld or obstacle is detected, the vehicle slows down in advance. When the front magnetic attraction wheel 51 contacts the weld, the corresponding independent suspension compresses the preload spring 533, causing the front wheel to float upwards and cross the weld; the height of the central frame 1 remains basically unchanged, and the rear wheels remain close to the hull. There is no "bridging" problem where the outer shell edge touches the hull and causes the entire machine to be lifted up.

[0043] Inspection and Cleaning: The vision module 3 simultaneously inspects the hull surface, identifying the distribution of sludge and biofilm. The flexible roller brush 62 of the cleaning module 6, under the action of a constant force suspension bracket, adheres to the hull with constant light pressure, and together with the rear flexible squeegee 63, gently and non-destructively removes soft biological dirt, protecting the anti-fouling coating.

[0044] Parking and Current Resistance: When the robot needs to stop working or encounters sudden large waves, the control system issues a command, and the electromagnetically driven telescopic cylinder 41 extends the front and rear locking feet 42 downwards, directly pressing against the surface of the hull. The strong friction of the locking feet 42 "pins" the entire machine in place, achieving a completely stationary parking state.

[0045] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A ship hull cleaning robot, characterized in that, include: The central frame (1) adopts a low-profile, open truss structure, serving as the core load-bearing platform for the robot; The moving module (5) is symmetrically distributed at the four corners of the central frame (1). The moving module (5) includes a strong magnetic chuck (51) and a dynamic suspension mechanism connected between the central frame (1) and the strong magnetic chuck (51). Locking module (4) is installed at the bottom front and rear ends of the central frame (1) for locking to the hull surface in the parked state; The vision module (3) is embedded inside the leading edge of the central frame (1) and is used to acquire environmental image information in front of the hull; The cleaning module (6) is installed in the middle of the central frame (1). The cleaning module (6) includes a cleaning head and a constant force suspension bracket connected between the central frame (1) and the cleaning head.

2. The ship hull cleaning robot according to claim 1, characterized in that, The central frame (1) is made of aluminum alloy. It has mounting ears around its perimeter for hinged connection of the mobile module (5), a cabin structure in the middle for housing the battery, electronic control unit and communication module, and a cleaning cartridge rail for installing the cleaning module (6).

3. The hull cleaning robot according to claim 2, characterized in that, The strong magnetic chuck (51) in the moving module (5) includes a thick permanent magnet core and a soft outer ring elastic body wrapped around the thick permanent magnet core; the strong magnetic chuck (51) has a built-in hub motor for driving its rotation.

4. The hull cleaning robot according to claim 3, characterized in that, The dynamic suspension mechanism includes a main support arm (52) and a secondary support arm (53); the first end of the main support arm (52) is rotatably connected to the central frame (1), and the second end of the main support arm (52) is connected to the axle of the strong magnetic chuck (51); one end of the secondary support arm (53) is rotatably connected to the rod of the main support arm (52), and the other end is rotatably connected to the central frame (1); a preload spring (533) is provided in the secondary support arm (53), so that the strong magnetic chuck (51) has a micro-compliant ability to float in the vertical direction.

5. The hull cleaning robot according to claim 4, characterized in that, The secondary support arm (53) is composed of a hollow rod (531) and a connecting rod (532) that are nested together. The two ends of the preload spring (533) are fixedly connected to the hollow rod (531) and the connecting rod (532) respectively.

6. The hull cleaning robot according to claim 1, characterized in that, The locking module (4) includes a telescopic cylinder (41), a locking foot (42), and a guide seat (43); the telescopic cylinder (41) is fixed to the central frame (1), and the locking foot (42) extends along the guide seat (43) under the drive of the telescopic cylinder (41) to abut against the hull surface and generate static friction.

7. The ship hull cleaning robot according to claim 1, characterized in that, It also includes a flow guide (2) installed on the front edge of the central frame (1); the flow guide (2) is an arc-shaped splash guard structure, used to reduce the direct impact of high-speed water flow on internal components.

8. The hull cleaning robot according to claim 7, characterized in that, The vision module (3) includes a binocular vision module and a streamlined transparent hood; the transparent hood is smoothly connected to the guide (2), and a supplementary light array is integrated on its side; the central frame (1) is equipped with a vision processing unit that is electrically connected to the vision module (3).

9. The hull cleaning robot according to claim 1, characterized in that, The cleaning head of the cleaning module (6) includes a flexible roller brush (62) and a flexible squeegee strip (63) located behind the flexible roller brush (62); the constant force suspension bracket includes a main frame (61), a movable frame (64) and a suspension component (65); the movable frame (64) is connected between the main frame (61) and the flexible roller brush (62), and the flexible squeegee strip (63) is hinged to the main frame (61); the suspension component (65) is disposed between the movable frame (64) and the main frame (61) and between the flexible squeegee strip (63) and the main frame (61).

10. The hull cleaning robot according to claim 9, characterized in that, The suspension component (65) includes a hinged rod (651) and a sleeved rod (653) that are sleeved together, and an energy-enhancing spring (652) connected between the two, so that the flexible roller brush (62) and the flexible squeegee strip (63) are attached to the hull surface with constant light pressure.

Images