Mechanical hand and spade for cleaning holds
By designing a multi-degree-of-freedom boom structure and air supply device for the cleaning robot, efficient scraping, peeling, and blowing of loose cargo on the ship's bulkheads and ribs were achieved, solving the problem of poor cleaning effect of existing cleaning equipment and improving the reliability and lifespan of the cleaning equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SANY MARINE HEAVY INDUSTRY CO LTD
- Filing Date
- 2026-05-14
- Publication Date
- 2026-07-31
AI Technical Summary
Existing cargo cleaning equipment is ineffective at removing loose cargo adhering to the ship's bulkheads and ribs, resulting in poor cleaning performance.
Design a cabin cleaning robot that uses a multi-degree-of-freedom coordinated adjustable boom structure and air supply device to achieve high-pressure airflow jetting and vibration of the cabin walls and ribs by using scrapers, nozzles and vibrators, combining scraping, peeling and purging operations into one.
It improves the cleaning effect, enabling efficient scraping, peeling and blowing of cargo attached to the cabin, simplifies the equipment structure, and enhances the reliability and lifespan of the equipment in harsh environments.
Smart Images
Figure CN122482255A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tank cleaning equipment technology, and in particular to a tank cleaning robot and tank cleaning equipment. Background Technology
[0002] In bulk carrier unloading operations at terminals, unloaders and gantry cranes are the mainstream equipment, but both have blind spots: approximately 25% of the cargo in each hold of an unloader berth and approximately 30% of the cargo in each hold of a gantry crane berth cannot be freely grabbed by shore cranes, requiring the assistance of hold cleaning equipment to complete the unloading. Currently, hold cleaning equipment mainly uses engineering machinery such as excavators and loaders, whose original attachments are only suitable for the collection and transfer of bulk cargo inside the hold, and are difficult to clean loose cargo adhering to the hold walls, ribs, etc., resulting in poor hold cleaning efficiency. Therefore, developing a hold cleaning attachment with better cleaning efficiency has become an urgent technical problem to be solved in this field. Summary of the Invention
[0003] To address at least one of the problems mentioned in the background art, this application provides a cabin cleaning robot and cabin cleaning equipment, which achieves good cabin cleaning results.
[0004] To achieve the above objectives, this application provides the following technical solution:
[0005] In a first aspect, this application provides a cabin cleaning robot for use in cabin cleaning equipment, comprising:
[0006] A turntable is rotatably mounted on the cleaning compartment equipment;
[0007] The first boom has its first end hinged to a turntable, on which a first hydraulic cylinder is mounted. The piston rod of the first hydraulic cylinder is hinged to the first boom, and the first hydraulic cylinder drives the first boom to swing.
[0008] The second boom has its first end hinged to the second end of the first boom. A second hydraulic cylinder is provided between the first boom and the second boom, and the second hydraulic cylinder drives the second boom to rotate around the second end of the first boom.
[0009] The attachment is located at the second end of the second boom. The attachment includes a scraper located at the front end of the attachment, and the scraper is equipped with a nozzle and a vibrator.
[0010] The gas supply device, nozzle, and vibrator are all connected to the gas supply device via gas pipes. The gas supply device is used to supply pressurized gas to the nozzle and vibrator so that the pressurized gas is ejected through the nozzle and the vibrator is driven to vibrate by the pressurized gas, thereby causing the scraper to vibrate.
[0011] As an optional implementation, a connecting rod structure is also provided between the first boom and the second boom. The second cylinder is connected to the second boom through the connecting rod structure. The connecting rod structure includes a first hinged arm and a second hinged arm. The first end of the second cylinder is hinged to a first part on the first boom. The first end of the first hinged arm and the first end of the second hinged arm are both hinged to the second end of the second cylinder. The second end of the first hinged arm is hinged to a second part on the first boom. The second end of the second hinged arm is hinged to the second boom.
[0012] As an alternative implementation, the air supply device includes an air compressor, which is disposed on the turntable, and an air pipe is configured to extend sequentially along the first boom, the second boom and the attachment, with the two ends of the air pipe connected to the air compressor and a nozzle, respectively.
[0013] As an optional implementation, a hydraulic drive motor is also included, which is connected to the air compressor and drives the air compressor to work.
[0014] As an optional implementation, the air supply device also includes an air filter, which is disposed on the turntable and is used to filter the air entering the air compressor.
[0015] As an optional implementation, the gas supply device also includes a condenser and a dryer, both of which are mounted on a turntable. The condenser is connected between the air compressor and the nozzle and is used to condense and cool the compressed gas output from the air compressor.
[0016] The dryer is connected between the condenser and the nozzle, and is used to dry the gas condensed by the condenser.
[0017] As an optional implementation, the gas supply device also includes a gas storage container, which is disposed on the turntable. The two ends of the gas storage container are respectively connected to the dryer and the nozzle. The gas storage container is used to store the gas dried by the dryer.
[0018] As an optional implementation, the attachment also includes a mounting base hinged to the second end of the second boom;
[0019] A third hydraulic cylinder is installed between the attachment and the second boom, and the third hydraulic cylinder drives the attachment to swing around the second end of the second boom.
[0020] As an alternative implementation, at least one of the turntable, the first boom, the second boom, and the attachments is provided with an angle sensor.
[0021] Secondly, this application provides a tank cleaning device, including the tank cleaning robot described in the first aspect.
[0022] The cleaning robot provided in this application can adjust its overall working position by rotating around the off-vehicle walking mechanism of the engineering machinery via a turntable during cleaning operations, adapting to the operational needs of different areas of the ship's hold. The first hydraulic cylinder can drive the first boom to rotate around the hinge point of the turntable by extension and retraction, and the second hydraulic cylinder drives the second boom to rotate around the second end of the first boom. Through multi-degree-of-freedom coordinated adjustment, the attachment can be accurately delivered to blind spots such as the ship's bulkhead and ribs, as well as to the location of attached cargo. After reaching the working position, the scraper on the attachment can contact the surface of the ship's bulkhead and ribs, scraping off the loose cargo attached to the surface with the driving force of the cleaning robot. It can also deliver high-pressure airflow to the vibrator and nozzle through the air supply device. The high-pressure airflow drives the vibrator to vibrate, and drives the scraper to vibrate as well, peeling off the cargo that is adhered to the structure of the hold. At the same time, the high-pressure airflow can be sprayed out from the nozzle to blow away residual material. The whole process realizes the integrated cleaning of scraping, peeling and blowing of attached cargo in the hold, improving the cleaning effect. Attached Figure Description
[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 This is a schematic diagram of the structure of the cleaning robot provided in the embodiments of this application;
[0025] Figure 2 A schematic diagram of the turntable in the cleaning robot provided in the embodiments of this application;
[0026] Figure 3 A schematic diagram of the first boom in the cleaning robot provided in the embodiments of this application;
[0027] Figure 4 A schematic diagram of the second boom in the cleaning robot provided in the embodiments of this application;
[0028] Figure 5 This is a schematic diagram of the attachments on the cleaning robot provided in the embodiments of this application.
[0029] Explanation of reference numerals in the attached figures:
[0030] 100. Cleaning robot; 110. Turntable; 120. First boom; 130. First cylinder; 140. Second boom; 151. Second cylinder; 152. First articulated arm; 153. Second articulated arm; 160. Attachment; 161. Scraper; 162. Nozzle; 163. Vibrator; 164. Mounting base; 170. Third cylinder; 180. Air supply device; 181. Air compressor; 182. Air pipe; 183. Air filter; 184. Condenser; 185. Dryer; 186. Air storage container; 190. Angle sensor; 200. Lighting fixture mounting base. Detailed Implementation
[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0032] In this application, the terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” “outer,” “vertical,” “horizontal,” “lateral,” and “longitudinal” indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.
[0033] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0034] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0035] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.
[0036] Currently, hold cleaning equipment mainly uses construction machinery such as excavators and loaders. Their original attachments are only suitable for collecting and transferring bulk cargo within the hold, and are insufficient for cleaning loose cargo adhering to the hold walls and ribs, resulting in poor cleaning effectiveness. Therefore, developing a hold cleaning attachment with better cleaning performance has become an urgent technical problem to be solved in this field.
[0037] In view of this, this application provides a cargo hold cleaning robot. During cargo hold cleaning operations, the robot can rotate around the off-vehicle walking mechanism of the engineering machinery via a turntable to adjust its overall working position to adapt to the operational needs of different areas of the cargo hold. The first hydraulic cylinder can drive the first boom to rotate around the hinge point of the turntable by extension and retraction, and the second hydraulic cylinder drives the second boom to rotate around the second end of the first boom. Thus, through multi-degree-of-freedom coordinated adjustment, the attachments can be accurately delivered to blind spots such as the cargo hold walls and ribs, as well as to the location of attached cargo. After reaching the working position, the scraper on the attachment can contact the surface of the cargo hold walls and ribs, and scrape off the loose cargo attached to the surface with the driving force of the cleaning robot. High-pressure airflow can also be delivered to the vibrator and nozzle through the air supply device. The high-pressure airflow drives the vibrator to vibrate, and drives the scraper to vibrate as well, peeling off the cargo that is adhered to the cargo hold structure. At the same time, the high-pressure airflow can be sprayed out from the nozzle to blow away residual material. The whole process realizes the integrated cleaning of scraping, peeling and blowing of attached cargo in the cargo hold, improving the cleaning effect.
[0038] Figure 1 This is a schematic diagram of the structure of the cleaning robot provided in the embodiments of this application; Figure 2 A schematic diagram of the turntable in the cleaning robot provided in the embodiments of this application; Figure 3 A schematic diagram of the first boom in the cleaning robot provided in the embodiments of this application; Figure 4 A schematic diagram of the second boom in the cleaning robot provided in the embodiments of this application; Figure 5 This is a schematic diagram of the attachments on the cleaning robot provided in the embodiments of this application.
[0039] You can refer to this. Figures 1 to 5 This application provides a cabin cleaning robot 100, applied to cabin cleaning equipment, comprising:
[0040] Turntable 110 is rotatably mounted on the cleaning compartment equipment;
[0041] The first boom 120 has its first end hinged to the turntable 110. The turntable 110 is equipped with a first hydraulic cylinder 130. The piston rod of the first hydraulic cylinder 130 is hinged to the first boom 120. The first hydraulic cylinder 130 drives the first boom 120 to swing.
[0042] The second boom 140 has its first end hinged to the second end of the first boom 120. A second hydraulic cylinder 151 is provided between the first boom 120 and the second boom 140. The second hydraulic cylinder 151 drives the second boom 140 to rotate around the second end of the first boom 120.
[0043] The attachment 160 is disposed at the second end of the second boom 140. The attachment 160 includes a scraper 161 disposed at the front end of the attachment 160, and a nozzle 162 and a vibrator 163 are disposed on the scraper 161.
[0044] The gas supply device 180, nozzle 162 and vibrator 163 are all connected to the gas supply device 180 through the gas pipe 182. The gas supply device 180 is used to supply pressurized gas to the nozzle 162 and vibrator 163 so that pressurized gas is ejected through the nozzle 162 and the vibrator 163 is driven to vibrate through the pressurized gas, thereby causing the scraper 161 to vibrate.
[0045] Among them, the vibrator 163 is a pneumatic vibrator 163, and the air pipe 182 is connected to the pneumatic vibrator 163. The high-pressure gas processed by the air supply device 180 can be synchronously delivered to the pneumatic vibrator 163 through the air pipe 182. The pneumatic vibrator 163 is directly driven by the air source to vibrate continuously. On the one hand, there is no need to configure an independent motor, power supply and transmission components, which simplifies the overall structural layout of the cleaning manipulator 100 and reduces the number of equipment parts. On the other hand, relying on the existing air supply pipe 182 for unified air supply, a single source can be used for multiple purposes. The airflow is stabilized after being pressure-stabilized by the air storage container 186, so that the vibration frequency of the vibrator 163 is uniform and stable, which can efficiently peel off the firmly attached bulk cargo adhering to the ship's bulkhead and ribs, and improve the material peeling effect. Furthermore, the pneumatic drive method has the advantages of explosion-proof, dust-resistant and adaptable to the humid and dusty working environment of the ship's cabin. The equipment has a low failure rate and a long service life. At the same time, there is no need to add an independent power supply line, avoiding messy and tangled pipelines and ensuring that the pipeline layout is neat and safe during the movement of the multi-stage boom.
[0046] The cleaning robot 100 provided in this embodiment can adjust its overall working position by rotating around the off-board walking mechanism of the engineering machinery via a turntable 110 during cleaning operations, adapting to the operational needs of different areas of the ship's hold. The first hydraulic cylinder 130 can drive the first boom 120 to rotate around the hinge point of the turntable 110 via extension and retraction, while the second hydraulic cylinder 151 drives the second boom 140 to rotate around the second end of the first boom 120. Through multi-degree-of-freedom coordinated adjustment, the attachment 160 can be precisely delivered to blind spots such as the ship's bulkhead and ribs, as well as to the location of attached cargo. After reaching the working position... The scraper 161 on the attachment 160 can contact the surface of the ship's bulkhead and ribs. With the driving force of the cleaning robot 100, it can scrape off the loose cargo attached to the surface. It can also deliver high-pressure airflow to the vibrator 163 and nozzle 162 through the air supply device 180. The high-pressure airflow drives the vibrator 163 to vibrate, and drives the scraper 161 to vibrate together, peeling off the cargo that is stuck to the hull structure. At the same time, the high-pressure airflow can be sprayed out from the nozzle 162 to blow away the residual material. The whole process realizes the integrated cleaning of scraping, peeling and blowing of cargo attached to the hull, which improves the cleaning effect.
[0047] In the above embodiment, a connecting rod structure is also provided between the first boom 120 and the second boom 140. The second cylinder 151 is connected to the second boom 140 through the connecting rod structure. The connecting rod structure includes a first hinge arm 152 and a second hinge arm 153. The first end of the second cylinder 151 is hinged to a first part on the first boom 120. The first end of the first hinge arm 152 and the first end of the second hinge arm 153 are both hinged to the second end of the second cylinder 151. The second end of the first hinge arm 152 is hinged to a second part on the first boom 120. The second end of the second hinge arm 153 is hinged to the second boom 140.
[0048] It is understandable that when the second cylinder 151 extends, its second end pushes outward the first end of the first hinge arm 152 and the first end of the second hinge arm 153. Since the second end of the first hinge arm 152 is hinged to the second part of the first boom 120, the first hinge arm 152 will rotate around the second part, and then the thrust is converted into a torque that drives the second boom 140 to rotate upward through the second hinge arm 153. When the second cylinder 151 retracts, its second end pulls inward the first end of the first hinge arm 152 and the first end of the second hinge arm 153. The first hinge arm 152 rotates in the opposite direction around the second part, and the second boom 140 is driven to rotate downward through the second hinge arm 153. Compared to the traditional structure where a single hydraulic cylinder is directly hinged between the first boom 120 and the second boom 140, the linkage structure in this embodiment changes the transmission path and lever arm length of the hydraulic cylinder driving force, so that the extension and retraction stroke of the second hydraulic cylinder 151 can be more efficiently converted into the rotation angle of the second boom 140. With the same hydraulic cylinder stroke, the rotation angle of the second boom 140 is larger, thereby increasing the convenience and operating range of the tank cleaning operation.
[0049] In the above embodiment, the air supply device 180 may include an air compressor 181 and an air pipe 182. The air compressor 181 is mounted on the turntable 110, and the air pipe 182 is configured to extend sequentially along the first boom 120, the second boom 140, and the attachment 160. Both ends of the air pipe 182 are connected to the air compressor 181 and a nozzle 162, respectively. The air compressor 181 is fixedly mounted on the turntable 110 and can rotate synchronously with the turntable 110. The air pipe 182 extends sequentially along the first boom 120, the second boom 140, and the attachment 160, respectively. Both ends of the air pipe 182 are connected to the air outlet of the air compressor 181 and the nozzle 162 and vibrator 163 on the attachment 160, respectively. During the process of the cleaning robot 100 swinging with more than 100 degrees of freedom and the continuous rotation of the first boom 120 and the second boom 140 to adjust the working position, The air pipes 182 laid along the boom can be extended and rotated synchronously with each stage of the boom, which can effectively avoid problems such as pipe entanglement, bending and damage, and air leakage. The air compressor 181 continuously generates high-pressure airflow and delivers it stably to the nozzles 162 through the air pipes 182. After the scraper 161 scrapes off the cargo adhering to the bulkhead and the vibrator 163 peels off the fastened residue, the nozzles 162 can continuously spray high-pressure airflow to blow away and clean the debris scattered on the surface of the bulkhead, realizing a continuous bulkhead cleaning operation integrating scraping, shaking, and blowing.
[0050] In the above embodiments, a hydraulic drive motor may also be included, which is connected to and drives the air compressor 181 to work. The hydraulic motor, the first cylinder 130 and the second cylinder 151 may be driven by the same hydraulic power source to simplify the hydraulic system structure.
[0051] In the above embodiments, the air supply device 180 may further include an air filter 183, which is disposed on the turntable 110 and is used to filter the air entering the air compressor 181. Understandably, during operation, outside air is first filtered and purified by air filter 183 to remove dust and particulate impurities before entering the air compressor 181 for compression. The purified compressed gas is then delivered to nozzle 162 and vibrator 163 via air pipe 182. This prevents dusty air from entering the air compressor 181 and causing wear on internal components, valve jamming, and scale buildup, ensuring a long-term stable pressurization supply from the air compressor 181 and extending the equipment's service life. It also prevents impurities from entering air pipe 182 and nozzle 162 with the compressed airflow, avoiding nozzle 162 clogging and turbulent airflow, ensuring a stable and smooth airflow output from nozzle 162, thereby ensuring the continuous and effective cleaning of residual material. At the same time, the air filter 183 is integrated into the turntable 110, without adding extra weight to the end attachment 160, and will not affect the movement coordination of the multi-stage boom or the overall center of gravity distribution.
[0052] In the above embodiments, the gas supply device 180 may further include a condenser 184 and a dryer 185. Both the condenser 184 and the dryer 185 are disposed on the turntable 110. The condenser 184 is connected between the air compressor 181 and the nozzle 162 and is used to condense and cool the compressed gas output by the air compressor 181. The dryer 185 is connected between the condenser 184 and the nozzle 162 and is used to dry the gas condensed by the condenser 184. It is understandable that the air filtered by the air filter 183 enters the air compressor 181 and is pressurized to form high-temperature compressed gas. When the high-temperature compressed gas flows through the condenser 184, it undergoes condensation and cooling. On the one hand, this can effectively reduce the temperature of the compressed gas, alleviate the problem of heat aging of the air pipe 182 and high-temperature deformation failure of the seals, and extend the overall service life of the delivery pipeline. On the other hand, it can prevent the high-temperature airflow ejected from the nozzle 162 from burning the ship's bulkhead plates, prevent the high-temperature gas from having an adverse effect on the bulk cargo materials in the ship's hold, and avoid the safety hazards caused by the high-temperature airflow coming into contact with flammable materials in the hold. Furthermore, the low-temperature airflow can reduce the accumulation of dirt inside the pipeline, ensure smooth and stable airflow delivery, and maintain the constant parameters of the airflow ejected from the nozzle 162.
[0053] It is understandable that the gas, after being filtered by the air filter 183, compressed by the air compressor 181, and condensed and cooled by the condenser 184, can further flow through the dryer 185. The dryer 185 dries the condensed gas, removing residual moisture. On the one hand, this effectively prevents water-containing gas from entering the air pipe 182 and nozzle 162, preventing rust and scale buildup inside the pipes, and preventing the nozzle 162 nozzles from becoming clogged due to water vapor condensation, ensuring smooth airflow and stable spraying effect of the nozzle 162. On the other hand, it prevents water vapor carried by the dried airflow from contacting the bulk cargo materials in the hold, preventing the materials from becoming damp and clumping, or adhering to the bulkheads or the surface of the fittings 160, reducing the difficulty of subsequent tank cleaning operations and improving cleaning efficiency. In addition, it prevents water vapor from being sprayed onto the metal structure surfaces such as the bulkheads and ribs of the hold, preventing metal components from rusting due to water vapor erosion and extending the service life of the equipment in the hold.
[0054] In the above embodiments, the gas supply device 180 may further include a gas storage container 186, which is disposed on the turntable 110. The two ends of the gas storage container 186 are respectively connected to the dryer 185 and the nozzle 162. The gas storage container 186 is used to store the gas dried by the dryer 185. The gas storage container 186 is integrated at the turntable 110, with its two ends connected to the dryer 185 and the nozzle 162, respectively. During operation, the gas, after being filtered by the air filter 183, compressed by the air compressor 181, condensed and cooled by the condenser 184, and dried and purified by the dryer 185, can flow into the gas storage container 186 for storage and buffering. On the one hand, it can store and stabilize the pressure of clean and dry compressed gas, balance the fluctuation of airflow output pressure, and make the airflow sprayed by the nozzle 162 more stable and uniform, improving the continuity and cleaning effect of the purging operation. On the other hand, it can continuously supply airflow to the nozzle 162 when the air compressor 181 is working intermittently, reducing the start-stop frequency of the air compressor 181, reducing equipment wear, and extending the overall service life of the air compressor. Furthermore, the sufficient gas supply can meet the instantaneous high-flow jet spray demand during the cleaning operation, avoiding the problem of insufficient purging force and incomplete cleaning of residual materials due to insufficient airflow. In addition, the gas storage container 186 can further buffer the airflow impact in the pipeline, reduce the vibration and wear of the air pipe 182, and ensure the stable operation of the pipeline.
[0055] In the above embodiments, the attachment 160 may further include a mounting base 164, which is hinged to the second end of the second boom 140. A third hydraulic cylinder 170 is provided between the attachment 160 and the second boom 140, and the third hydraulic cylinder 170 drives the attachment 160 to swing around the second end of the second boom 140. During operation, the extension and retraction of the third hydraulic cylinder 170 can drive the mounting base 164 to rotate flexibly around the hinge point, thereby driving the scraper 161, nozzle 162, and pneumatic vibrator 163 to adjust their working posture synchronously. This allows the scraper 161 to adaptively conform to the surface of the ship's bulkhead and ribs for scraping operations. The vibrator 163 and nozzle 162 can simultaneously complete the material shaking and residual material blowing actions, respectively. The working positions of the three are coordinated with each other without interference, realizing the synchronous integrated operation of scraping, vibration peeling, and airflow blowing. At the same time, the hinge adjustment structure of the mounting base 164 can compensate for the positional deviation caused by the movement of the arm, improve the adaptability of the scraper 161's conformation operation, and ensure continuous and efficient cleaning operations. The overall layout is compact and reasonable, enhancing the stability of the cleaning robot 100.
[0056] In the above embodiment, at least one of the turntable 110, the first boom 120, the second boom 140, and the attachment 160 is equipped with an angle sensor 190 for real-time detection of the rotation angle parameters of the turntable 110, the first boom 120, the second boom 140, and the attachment 160. The angle sensor 190 converts the real-time rotational attitude of each component into an electrical signal and feeds it back to the control system. On the one hand, this enables precise monitoring of the movement attitude of the cleaning robot 100, ensuring that each boom and attachment 160 accurately reaches the preset working position, thus improving the positioning accuracy of the cleaning operation. On the other hand, it can capture the rotation angle of each component in real time during the operation. The angle sensor 190 allows the control system to promptly detect any abnormalities in the movement. If over-rotation or jamming occurs, an alarm or shutdown protection can be triggered immediately to avoid structural interference, component collisions, and overload damage. Furthermore, by comprehensively calculating the angle data from multiple positions, the spatial pose and motion trajectory of the entire cleaning robot 100 can be accurately analyzed, providing data support for subsequent operation path planning and motion coordination optimization, thereby improving the automation and intelligence level of the cleaning operation. In addition, the real-time detection data from the angle sensor 190 can also provide accurate basis for remote monitoring, remote operation and maintenance, and operation data traceability, further ensuring the stability and reliability of the cleaning operation.
[0057] In the above embodiments, lighting mounting bases 200 can also be provided on the first boom 120 and the second boom 140 to facilitate the installation of lighting lamps. The lighting mounting bases 200 can provide a stable mounting support for the lighting lamps, effectively buffer the vibration of the cleaning robot 100 during operation, prevent the lighting lamps from becoming loose, shifting, damaged, or falling off, and ensure stable and reliable lighting. The arrangement of lighting points on the first boom 120 and the second boom 140 can provide supplementary lighting for dimly lit areas inside the cabin and the working areas on the bulkhead, eliminate blind spots in the working field of vision, facilitate clear observation of the cleaning operation conditions by the operators, reduce problems such as missed cleaning and scratches, and improve the overall operational safety and operational accuracy.
[0058] Furthermore, this application provides a cabin cleaning device, including the cabin cleaning robot 100 described in the above embodiments. During cabin cleaning operations, the robot 100 can be rotated around the off-board walking mechanism of the engineering machinery via a turntable 110 to adjust its overall working position, adapting to the operational needs of different areas within the cabin. A first hydraulic cylinder 130 can drive a first boom 120 to rotate around the hinge point of the turntable 110 via extension and retraction. A second hydraulic cylinder 151 drives a second boom 140 to rotate around the second end of the first boom 120. Through multi-degree-of-freedom coordinated adjustment, the attachment 160 can be precisely delivered to blind spots and attachment points such as cabin walls and ribs. Cargo location; After reaching the working position, the scraper 161 on the attachment 160 can contact the surface of the ship's bulkhead and ribs. With the driving force of the cleaning manipulator 100, it can scrape off the loose cargo attached to the surface. It can also deliver high-pressure airflow to the vibrator 163 and nozzle 162 through the air supply device 180. The high-pressure airflow drives the vibrator 163 to vibrate, and drives the scraper 161 to vibrate together, peeling off the cargo that is stuck to the hull structure. At the same time, the high-pressure airflow can be sprayed out from the nozzle 162 to blow away the residual material. The whole process realizes the integrated cleaning of scraping, peeling and blowing of cargo attached to the hull, which improves the cleaning effect of the hull cleaning equipment.
[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A cabin cleaning robot, applied to cabin cleaning equipment, characterized in that, include: A turntable is rotatably mounted on the cleaning compartment equipment; A first boom, the first end of which is hinged to the turntable, a first hydraulic cylinder is provided on the turntable, the piston rod of which is hinged to the first boom, and the first hydraulic cylinder drives the first boom to swing. A second boom, the first end of which is hinged to the second end of the first boom, and a second hydraulic cylinder is provided between the first boom and the second boom, the second hydraulic cylinder driving the second boom to rotate around the second end of the first boom; An attachment is provided at the second end of the second boom. The attachment includes a scraper provided at the front end of the attachment, and the scraper is provided with a nozzle and a vibrator. The gas supply device includes a nozzle and a vibrator connected to the gas supply device via gas pipes. The gas supply device supplies pressurized gas to the nozzle and the vibrator to spray pressurized gas through the nozzle and to drive the vibrator to vibrate through the pressurized gas, thereby causing the scraper to vibrate.
2. The cleaning robot according to claim 1, characterized in that, A connecting rod structure is also provided between the first boom and the second boom. The second cylinder is connected to the second boom through the connecting rod structure. The connecting rod structure includes a first hinged arm and a second hinged arm. The first end of the second cylinder is hinged to a first part on the first boom. The first end of the first hinged arm and the first end of the second hinged arm are both hinged to the second end of the second cylinder. The second end of the first hinged arm is hinged to a second part on the first boom. The second end of the second hinged arm is hinged to the second boom.
3. The cleaning robot according to claim 1, characterized in that, The air supply device includes an air compressor, which is disposed on the turntable. The air pipe is configured to extend sequentially along the first boom, the second boom, and the attachment. The two ends of the air pipe are respectively connected to the air compressor and the nozzle.
4. The cleaning robot according to claim 3, characterized in that, It also includes a hydraulic drive motor, which is connected to the air compressor and drives the air compressor to work.
5. The cleaning robot according to claim 4, characterized in that, The air supply device also includes an air filter, which is disposed on the turntable and is used to filter the air entering the air compressor.
6. The cleaning robot according to claim 5, characterized in that, The gas supply device also includes a condenser and a dryer, both of which are located on the turntable. The condenser is connected between the air compressor and the nozzle and is used to condense and cool the compressed gas output by the air compressor. The dryer is connected between the condenser and the nozzle, and is used to dry the gas condensed by the condenser.
7. The cleaning robot according to claim 6, characterized in that, The gas supply device also includes a gas storage container, which is disposed on the turntable. The two ends of the gas storage container are respectively connected to the dryer and the nozzle. The gas storage container is used to store the gas dried by the dryer.
8. The cleaning robot according to any one of claims 1-7, characterized in that, The attachment also includes a mounting base, which is hinged to the second end of the second boom; A third hydraulic cylinder is provided between the attachment and the second boom, and the third hydraulic cylinder drives the attachment to swing around the second end of the second boom.
9. The cleaning robot according to any one of claims 1-7, characterized in that, An angle sensor is provided on at least one of the turntable, the first boom, the second boom, and the attachment.
10. A cleaning chamber device, characterized in that, Includes the cleaning robot as described in any one of claims 1-9.