Wall-climbing cleaning robot

Abstract

The utility model relates to the technical field of machine cleaning, in particular to a wall-climbing cleaning robot which comprises a robot body. The grinding disc is connected with the stand columns through springs and used for grinding impurities on the surface of the hull; the driving mechanism is fixedly arranged on the front end face of the robot through a support and used for driving the grinding disc to rotate at the same time. And the wheels are arranged at the bottom of the robot body and connected through hinge structures, second connecting rods are arranged on the hinge structures and connected with the air cylinders, and the composition shapes of the wheels can be changed according to different surfaces of the ship body. The wall-climbing cleaning robot has the advantages that residual impurities attached to the ship body can be cleaned through the grinding mechanism, the surface of the cleaned ship body is cleaner, the wheels can smoothly pass through the plane and the prismatic surface of the ship body due to the changeable arrangement of the wheels, workers do not need to take down the robot body and place the robot body again, and the working efficiency is improved. The cleaning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of machine cleaning, in particular to a wall-climbing cleaning robot. Background Art

[0002] Ships are exposed to the marine environment for a long time and are susceptible to corrosion from seawater, oxidation and pollutants, which can lead to rust and damage to the hull. Therefore, regular rust removal and cleaning are required to remove rust, dirt and attachments on the surface of the hull, which can extend the service life of the ship, prevent the expansion of corrosion and further development of damage, and ensure the safety of ship operation. For the rust removal and cleaning of ships, traditional manual operation methods were mostly used in the past, that is, manual operation on scaffolding or hanging baskets. Not only are there problems such as high labor intensity, low operation efficiency, long working cycle, high maintenance cost, and operators are prone to occupational diseases, but also often accompanied by safety accidents. The birth of the wall-climbing robot has changed this phenomenon.

[0003] A wall-climbing robot for cleaning the surface of a hull with the publication number CN220948458U comprises a robot body, a cleaning mechanism is arranged on the upper surface of the robot body to improve the cleaning effect of the hull, and a protective mechanism is arranged on the left and right sides of the robot body. The wall-climbing robot for cleaning the surface of a hull can be placed on the hull for wall climbing operation by setting up a cleaning mechanism, through the cooperation between a fixed frame, a rotating shaft, a roller brush, a driving motor, a water tank, and a water pump, etc., and then the water pump is started to extract the water flow in the water tank through a water pumping pipe and pumped to the flushing pipe along a water supply pipe and sprayed onto the hull by a plurality of nozzles to flush the impurities on the hull, and the driving motor is started to drive the rotating shaft through the output shaft to drive the roller brush to rotate to brush the washed hull, so as to cooperate with the high-pressure water flow sprayed by the nozzle to double-clean the hull to improve the cleaning effect of the hull. However, the above patent still has the problem of poor cleaning effect on the hull. In the above patent, the driving motor is started to drive the rotating shaft through the output shaft to drive the roller brush to rotate to brush the washed hull, so as to cooperate with the high-pressure water flow sprayed from the nozzle to double clean the hull. However, the impurities on the hull are mainly epiphytes such as barnacles and impurities such as silt, and the high-pressure water jet can easily break large impurities during flushing, and the bonding points therein are tightly connected and small in area, and are not easily cleaned by high-pressure water flushing and roller brushes, which affects the cleaning effect. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a wall-climbing robot for cleaning the surface of a hull, which has the advantages of good cleaning effect, etc., and solves the problem of poor cleaning effect on the hull in the prior art.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A wall-climbing cleaning robot, comprising:

[0007] Robot body;

[0008] The grinding disc is connected to the column through a spring and is used to grind impurities on the surface of the hull;

[0009] The driving mechanism is fixedly arranged on the front end surface of the robot through a bracket, and is used to drive the grinding disc to rotate simultaneously;

[0010] The wheels are arranged at the bottom of the robot body, the wheels are connected by a hinge structure, a connecting rod is arranged on the hinge structure, and the second connecting rod is connected to the cylinder. The wheels can change the composition shape of the wheels according to the different surfaces of the hull.

[0011] Preferably, the driving mechanism comprises: a worm, a plurality of worm wheels and a motor, the motor drives the worm to rotate, and the worm wheels can rotate simultaneously under the action of the worm.

[0012] Preferably, the grinding disc is connected to the worm wheel via a column, and the grinding disc rotates as the worm wheel rotates.

[0013] Preferably, the number of the grinding discs is the same as the number of the worm wheels.

[0014] Preferably, a plurality of high-pressure water guns are arranged at the front end of the robot body, the high-pressure water guns are connected to a water tank via a water pipe, and the water tank is arranged inside the robot body.

[0015] Preferably, a first water pump is arranged between the water tank and the water pipe.

[0016] Preferably, a water level alarm is provided in the water tank.

[0017] Preferably, a hose is provided on the water tank, and the hose is connected to the water supply unit via a second water pump, so that automatic water supply can be achieved.

[0018] Preferably, a magnetic attraction structure is provided at the bottom of the robot body.

[0019] The beneficial effects of using the utility model are: the wall-climbing cleaning robot can clean up residual impurities attached to the hull by setting a grinding mechanism, making the cleaned hull surface cleaner, and the changing setting of the wheels can make the wheels pass smoothly through the plane and prismatic surface of the hull, without the need for staff to remove the robot body and re-place it, thereby improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A top view of a wall-climbing cleaning robot.

[0021] Figure 2Schematic diagram of the grinding disc.

[0022] Figure 3 This is a schematic diagram of the "straight-line" structure of the wheel.

[0023] Figure 4 This is a schematic diagram of the "triangular" structure of the wheel.

[0024] Figure 5 Schematic diagram of the magnetic attraction mechanism.

[0025] Figure 6 Schematic diagram of the driving mechanism.

[0026] Reference numerals include:

[0027] 10-robot body, 11-high-pressure water gun, 12-water pipe, 13-first water pump, 14-water tank, 15-second water pump, 16-hose, 17-magnetic structure, 171-first connecting rod, 172-magnetic suction cup, 173-cylinder, 18-alarm, 20-grinding disc, 21-spring, 22-column, 30-driving mechanism, 31-bracket, 32-motor, 33-worm, 34-worm wheel, 40-wheel, 41-hinge structure, 42-second connecting rod, 43-hydraulic cylinder. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the technical solution more clear, the technical solution is further described in detail below in conjunction with specific implementation methods. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the technical solution.

[0029] like Figure 1-2As shown, a wall-climbing cleaning robot comprises: a robot body 10, a plurality of high-pressure water guns 11 are arranged at the front end of the robot body 10, the high-pressure water guns 11 are connected to a water tank 14 through a water pipe 12, the water tank 14 is arranged inside the robot body 10, and a first water pump 13 is arranged between the water tank 14 and the water pipe 12. A hose 16 is arranged on the water tank 14, and the hose 16 is connected to a water supply unit through a second water pump 15. A water level alarm 18 is arranged in the water tank 14. When the amount of water in the water tank 14 decreases to a preset water level line, the alarm 18 sounds an alarm, and the water tank 14 can realize automatic water supply through the hose 16. A magnetic attraction structure 17 is arranged at the bottom of the robot body 10, and the robot body 10 is connected to the hull through the magnetic attraction structure 17. The grinding disc 20 is connected to the column 22 through a spring 21, and is used to grind impurities on the surface of the hull. The high-pressure water gun 11 can wash away most of the impurities, including barnacles and other difficult-to-clean attachments. However, after cleaning with the high-pressure water gun 11, some hard residual materials that are difficult to clean will remain on the hull, which can be well cleaned by the grinding disc 20 at this time; the driving mechanism 30 is fixedly set on the robot body 10 through a bracket 31, and is used to drive the grinding disc 20 to move simultaneously.

[0030] like Figure 3-4 As shown, in this embodiment, the wheels 40 are arranged at the bottom of the robot body 10, and the wheels 40 are connected by a hinge structure 41. A second connecting rod 42 is installed on the hinge structure 41, and the second connecting rod 42 is connected to the extended end of the hydraulic cylinder 43. When the hydraulic cylinder 43 is pushed out, the second connecting rod 42 pushes the hinge structure 41 to make it a "straight" structure; when the hydraulic cylinder 43 contracts, the second connecting rod 42 is pulled to drive the hinge structure 41 to gather, and the wheels 40 become a "triangular" structure. Under the action of the hinge structure 41, the second connecting rod 42 and the hydraulic cylinder 43, the wheels 40 can change the composition shape of the wheels 40 according to the different surfaces of the hull. Therefore, when cleaning the hull on the deck, the wheels 40 are transformed into a "straight" shape, and the three wheels 40 roll and slide in a horizontal structure. When there is a prism on the hull surface to be passed, the wheels 40 are transformed into a "triangular shape". The wheels 40 are transformed into a "triangular shape" to make it easier to pass through the surface of the prism.

[0031] like Figure 5As shown, the magnetic attraction mechanism 17 includes a first connecting rod 171, a plurality of magnetic suction cups 172 and a cylinder 173. One end of the first connecting rod 171 is fixedly connected to the plurality of magnetic suction cups 172, and the other end is fixedly connected to the extended end of the cylinder 173. The function of the magnetic attraction structure 17 is to be adsorbed on the surface of the hull through the magnetic suction cups 1713. The plurality of magnetic attraction mechanisms 17 are arranged at the bottom of the robot body 10. When the wheel 40 changes from a "straight line" to a "triangle", the cylinder 173 pushes out the first connecting rod 171, and the first connecting rod 171 pushes out the magnetic suction cup 172, so that it continues to be adsorbed on the hull. Even when the wheel 40 is running, it can ensure that the robot body 10 is always adsorbed on the hull.

[0032] like Figure 6 As shown, the driving mechanism 30 includes: a worm 33, a plurality of worm wheels 34 and a motor 32. The motor 32 drives the worm 33 to rotate. Under the action of the worm 33, the plurality of worm wheels 34 can rotate simultaneously. The number of grinding discs 20 is the same as the number of worm wheels 34. The grinding disc 20 is connected to the worm wheel 34 through the column 22. The grinding disc 20 rotates with the rotation of the worm wheel 34. Therefore, the grinding disc 20 can rotate simultaneously to clean the protruding residual impurities of the hull. Due to the spring 21 set in the grinding disc 20, when the grinding disc 20 contacts the impurities, it can grind. After the impurities are ground off, under the action of the spring 21, the grinding disc 20 will not continue to grind, ensuring that the surface of the hull will not be worn.

[0033] The working principle of a wall-climbing cleaning robot: first, place the wall-climbing cleaning robot on the hull to be cleaned, and the robot body 10 is adsorbed on the hull through the magnetic attraction structure 17. When the surface to be cleaned is a plane, the wheels 40 are in a "straight line" shape, and the high-pressure water gun 11 is turned on to clean most of the attachments on the hull. When residual attachments are found, the driving mechanism 30 is started, and the grinding disc 20 starts to work to clean the residual attachments. When passing through the prism surface when cleaning the hull, the combined structure of the wheels 40 is changed to a "triangular shape". When the water tank 14 sounds an alarm, the second water pump 15 is started, and a sufficient amount of water is added to the water tank 14 from the water supply unit through the hose 16, and the cleaning work continues.

[0034] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, many changes can be made in the specific implementation methods and application scopes based on the ideas of the present technical content. As long as these changes do not deviate from the concept of the present invention, they all fall within the scope of protection of this patent.

Claims

1. A wall-climbing cleaning robot, characterized in that: include: Robot body; The grinding disc is connected to the column through a spring and is used to grind impurities on the surface of the hull; The driving mechanism is fixedly arranged on the front end surface of the robot through a bracket, and is used to drive the grinding disc to rotate simultaneously; The wheels are arranged at the bottom of the robot body, the wheels are connected by a hinge structure, a connecting rod is arranged on the hinge structure, and the second connecting rod is connected to the cylinder. The wheels can change the composition shape of the wheels according to the different surfaces of the hull.

2. A wall-climbing cleaning robot according to claim 1, characterized in that: The driving mechanism comprises: a worm, a plurality of worm wheels and a motor. The motor drives the worm to rotate, and the worm wheels can rotate simultaneously under the action of the worm.

3. A wall-climbing cleaning robot according to claim 1, characterized in that: The grinding disc is connected to the worm wheel through a column, and the grinding disc rotates as the worm wheel rotates.

4. A wall-climbing cleaning robot according to claim 3, characterized in that: The number of the grinding discs is the same as the number of the worm wheels.

5. The wall-climbing cleaning robot according to claim 1, characterized in that: A plurality of high-pressure water guns are arranged at the front end of the robot body, and the high-pressure water guns are connected to a water tank through a water pipe, and the water tank is arranged inside the robot body.

6. A wall-climbing cleaning robot according to claim 5, characterized in that: A first water pump is arranged between the water tank and the water pipe.

7. A wall-climbing cleaning robot according to claim 6, characterized in that: A water level alarm is arranged in the water tank.

8. The wall-climbing cleaning robot according to claim 7, characterized in that: A hose is arranged on the water tank, and the hose is connected to the water supply unit through the second water pump, so that automatic water supply can be realized.

9. The wall-climbing cleaning robot according to claim 5, characterized in that: A magnetic attraction structure is arranged at the bottom of the robot body.

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