Four-wheel-drive self-adaptive cabin washing robot

Abstract

The utility model provides a four-wheel-drive self-adaption cabin washing robot, which relates to the field of robots and comprises a front vehicle body mechanism, a rear vehicle body mechanism and a vehicle-mounted control mechanism, the front side of the rear vehicle body mechanism is rotatably connected with the rear side of the vehicle-mounted control mechanism through a rotating bearing, and the whole body adopts a split type structural design. When the crawling robot transits on the wall surface and the advancing direction is not perpendicular to the crossed wall surface, the posture of the rear vehicle body mechanism, the front vehicle body mechanism and the vehicle-mounted control mechanism is changed, mainly, the rear vehicle body mechanism rotates around the axis of a rotating bearing, and then stable adsorption of the front vehicle body mechanism and the rear vehicle body mechanism is guaranteed; wall surface transition of the crawling robot is facilitated; in addition, the front driving unit and the rear driving unit can be independently driven, the four-wheel four-drive structural form is achieved, the crawling robot can stably crawl on the wall face of the ship, the working safety and stability are improved, and the popularization value is large.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a four-wheel drive self-adaptive tank cleaning robot. Background Art

[0002] The hull cabin operations include cleaning, spraying, grinding, rust removal and other processes. Most of them are performed by personnel riding on aerial vehicles and holding working tools. Not only is the risk factor high, but the working results and quality are also unstable.

[0003] Therefore, we currently use wall-climbing robots equipped with fixed working tools to replace manual operations. However, there is a concave angle of about 90° to 135° in the rib plate area in the existing cabin. The transition process must ensure that the robot and the junction wall are in a strict relative position, otherwise it will be difficult to complete the transition. Existing wall-climbing robots have difficulty in transitioning on the wall. Therefore, how to improve the flexibility of the crawling robot and achieve comprehensive cleaning of the rib plate area in the cabin has become a problem that needs to be urgently solved by technical personnel in this field. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies in the prior art and provide a four-wheel drive adaptive tank cleaning robot.

[0005] The utility model is realized through the following technical solutions:

[0006] A four-wheel drive adaptive tank cleaning robot comprises a front body mechanism, a rear body mechanism and a vehicle-mounted control mechanism, wherein the front body mechanism and the vehicle-mounted control mechanism are fixedly connected, and the front side of the rear body mechanism is rotationally connected to the rear side of the vehicle-mounted control mechanism via a rotating bearing, the front body mechanism comprises two groups of front drive units arranged symmetrically, and the rear body mechanism comprises two groups of rear drive units arranged symmetrically, the front drive units and the rear drive units can be driven independently, and the front drive units and the rear drive units are electrically connected to the vehicle-mounted control mechanism.

[0007] It can be seen that in the above technical scheme, the front side of the rear body mechanism of the utility model is rotatably connected to the rear side of the on-board control mechanism through a rotating bearing, and the overall split structural design is adopted. When the crawling robot transitions on the wall and the forward direction is not perpendicular to the intersecting wall, the rear body mechanism, the front body mechanism and the on-board control mechanism undergo posture changes, mainly because the rear body mechanism self-rotates around the axis of the rotating bearing, thereby ensuring the stable adsorption of the front body mechanism and the rear body mechanism, and facilitating the crawling robot to transition the wall; in addition, the front drive unit and the rear drive unit of the utility model can be driven independently, realizing a four-wheel four-wheel drive structure, so that the crawling robot can stably crawl on the wall of the ship, improve the safety and stability of the work, and have great promotion value.

[0008] According to the above technical solution, preferably, the front vehicle body mechanism further includes a front vehicle frame body, a front array of arc magnets, and a front vehicle upper cover. Two groups of front drive units are symmetrically arranged on the left and right sides of the front vehicle frame body. The front array of arc magnets is disposed at the lower part of the front vehicle frame body. The front vehicle upper cover is hermetically connected to the front vehicle frame body through a seal.

[0009] According to the above technical solution, preferably, the rear vehicle body mechanism further includes a rear vehicle frame body, a rear array of arc magnets, and a rear vehicle upper cover. Two groups of rear drive units are symmetrically arranged on the left and right sides of the rear vehicle frame body. The rear array of arc magnets is disposed at the lower part of the rear vehicle frame body. The rear vehicle upper cover is hermetically connected to the rear vehicle frame body through a seal.

[0010] According to the above technical solution, preferably, the front drive unit and the rear drive unit include an integrated joint motor, a motor flange, and a drive wheel. The fixed end face of the integrated joint motor is fixedly connected to one end of the motor flange. The other end of the motor flange is fixedly connected to the front vehicle frame body or the rear vehicle frame body. The output end face of the integrated joint motor is fixedly connected to the drive wheel.

[0011] According to the above technical solution, preferably, reserved holes for accommodating cables to pass through are reserved inside the front vehicle frame body and the rear vehicle frame body.

[0012] According to the above technical solution, preferably, a video monitoring mechanism is further included. The video monitoring mechanism is fixedly connected to the housing of the vehicle-mounted control mechanism and is electrically connected to the vehicle-mounted control mechanism.

[0013] According to the above technical solution, preferably, the video monitoring mechanism includes a camera bracket and a pan-tilt camera. The pan-tilt camera is fixedly connected to the housing of the vehicle-mounted control mechanism through the camera bracket and is electrically connected to the vehicle-mounted control mechanism.

[0014] According to the above technical solution, preferably, the video monitoring mechanism further includes a fall arrester hanging point fixedly connected to the camera bracket.

[0015] The beneficial effects of the present utility model are as follows:

[0016] (1) The front side of the rear vehicle body mechanism of the present utility model is rotationally connected to the rear side of the vehicle-mounted control mechanism through a rotating bearing. The overall structure is designed in a split form. When the crawling robot transitions on the wall surface and the forward direction is not perpendicular to the intersecting wall surface, the posture of the rear vehicle body mechanism, the front vehicle body mechanism, and the vehicle-mounted control mechanism changes. Mainly, the rear vehicle body mechanism rotates around the axis of the rotating bearing, thereby ensuring the stable adsorption of the front vehicle body mechanism and the rear vehicle body mechanism and facilitating the crawling robot to transition the wall surface;

[0017] (2) The front drive unit and the rear drive unit of the present utility model can be independently driven, realizing a four-wheel four-wheel drive structure form, enabling the crawling robot to stably crawl on the ship wall surface, improving the safety and stability of the work, and having great popularization value. Brief Description of the Drawings

[0018] Figure 1 Fig. 1 shows an isometric structure schematic diagram of the present utility model;

[0019] Figure 2 Fig. 2 shows an exploded structure schematic diagram of the present utility model;

[0020] Figure 3 Fig. 3 shows an isometric structure schematic diagram of the present utility model when the attitude changes;

[0021] Figure 4 Fig. 4 shows an isometric structure schematic diagram of the front vehicle body mechanism in the present utility model;

[0022] Figure 5 Fig. 5 shows a top view structure schematic diagram of the front vehicle body mechanism in the present utility model;

[0023] Figure 6 Fig. 6 shows Figure 5 a cross-sectional structure schematic diagram in the A-A direction of

[0024] Figure 7 Fig. 7 shows an isometric structure schematic diagram of the rear vehicle body mechanism in the present utility model;

[0025] Figure 8 Fig. 8 shows an isometric structure schematic diagram of the video monitoring mechanism in the present utility model;

[0026] Description of the Reference Numerals:

[0027] 1. Front vehicle body mechanism; 2. Rear vehicle body mechanism; 3. Vehicle-mounted control mechanism; 4. Rotating bearing; 5. Front drive unit; 6. Rear drive unit; 7. Front vehicle frame body; 8. Front array arc magnet; 9. Front vehicle upper cover; 10. Rear vehicle frame body; 11. Rear array arc magnet; 12. Rear vehicle upper cover; 13. Integrated joint motor; 14. Motor flange; 15. Driving wheel; 16. Reserved hole; 17. Video monitoring mechanism; 18. Camera bracket; 19. Pan-tilt camera; 20. Anti-falling device hanging point. Detailed Embodiment

[0028] In order to enable those skilled in the art of the present technology to better understand the technical solutions of the present utility model, the present utility model will be further described in detail below with reference to the drawings and the best embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the utility model.

[0029] In the description of the utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the utility model.

[0030] As Figure 1-8 shown, this embodiment provides a four-wheel drive adaptive tank cleaning robot, which includes a front vehicle body mechanism 1, a rear vehicle body mechanism 2 and a vehicle-mounted control mechanism 3. The front vehicle body mechanism 1 and the vehicle-mounted control mechanism 3 are fixedly connected. The front side of the rear vehicle body mechanism 2 is rotatably connected to the rear side of the vehicle-mounted control mechanism 3 through a rotating bearing 4. Among them, the front vehicle body mechanism 1 includes two sets of front drive units 5 arranged symmetrically left and right, and the rear vehicle body mechanism 2 includes two sets of rear drive units 6 arranged symmetrically left and right. The front drive units 5 and the rear drive units 6 can be independently driven, and the front drive units 5 and the rear drive units 6 are electrically connected to the vehicle-mounted control mechanism 3. In addition, the front vehicle body mechanism 1 further includes a front vehicle frame body 7, a front array of arc magnets 8 and a front vehicle upper cover 9. The two sets of front drive units 5 are symmetrically arranged on the left and right sides of the front vehicle frame body 7. The front array of arc magnets 8 is arranged at the lower part of the front vehicle frame body 7. The front vehicle upper cover 9 is hermetically connected to the front vehicle frame body 7 through a seal. The rear vehicle body mechanism 2 further includes a rear vehicle frame body 10, a rear array of arc magnets 11 and a rear vehicle upper cover 12. The two sets of rear drive units 6 are symmetrically arranged on the left and right sides of the rear vehicle frame body 10. The rear array of arc magnets 11 is arranged at the lower part of the rear vehicle frame body 10. The rear vehicle upper cover 12 is hermetically connected to the rear vehicle frame body 10 through a seal.

[0031] The front side of the rear vehicle body mechanism 2 of the present utility model is rotatably connected to the rear side of the vehicle-mounted control mechanism 3 through a rotating bearing 4, and the overall structure is designed in a split form. When the crawling robot transitions on the wall surface and the advancing direction is not perpendicular to the intersecting wall surface, the posture of the rear vehicle body mechanism 2 changes with the front vehicle body mechanism 1 and the vehicle-mounted control mechanism 3. Mainly, the rear vehicle body mechanism 2 rotates around the axis of the rotating bearing 4, thereby ensuring the stable adsorption of the front vehicle body mechanism 1 and the rear vehicle body mechanism 2 and facilitating the crawling robot to transition the wall surface; in addition, the front drive units 5 and the rear drive units 6 of the present utility model can be independently driven, realizing a four-wheel four-wheel drive structure form, enabling the crawling robot to stably crawl on the ship wall surface, improving the safety and stability of the work, and having great promotion value.

[0032] Optionally, in a possible implementation, the front drive unit 5 and the rear drive unit 6 include an integrated joint motor 13, a motor flange 14, and a drive wheel 15. The fixed end face of the integrated joint motor 13 is fixedly connected to one end of the motor flange 14, the other end of the motor flange 14 is fixedly connected to the front vehicle frame 7 or the rear vehicle frame 10, and the output end face of the integrated joint motor 13 is fixedly connected to the drive wheel 15.

[0033] Optionally, in a possible implementation, reserved holes 16 for accommodating cables to pass through are reserved inside the front vehicle frame 7 and the rear vehicle frame 10.

[0034] Optionally, in a possible implementation, a video monitoring mechanism 17 is further included. The video monitoring mechanism 17 is fixedly connected to the housing of the vehicle-mounted control mechanism 3 and is electrically connected to the vehicle-mounted control mechanism 3.

[0035] Optionally, in a possible implementation, the video monitoring mechanism 17 includes a camera bracket 18 and a pan-tilt camera 19. The pan-tilt camera 19 is fixedly connected to the housing of the vehicle-mounted control mechanism 3 through the camera bracket 18 and is electrically connected to the vehicle-mounted control mechanism 3.

[0036] Optionally, in a possible implementation, the video monitoring mechanism 17 further includes a fall arrester hanging point 20 fixedly connected to the camera bracket 18.

[0037] Optionally, in a possible implementation, a general external operation unit can be detachably installed on the front vehicle body mechanism, and the external operation unit can be a medium-high pressure water cleaning / rust removal, airless spraying, and physical grinding operation unit, etc.

[0038] Obviously, the above embodiments are only examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. An all-wheel drive adaptive tank cleaning robot, characterized in that, It includes a front vehicle body mechanism, a rear vehicle body mechanism and a vehicle-mounted control mechanism. The front vehicle body mechanism and the vehicle-mounted control mechanism are fixedly connected. The front side of the rear vehicle body mechanism is rotatably connected to the rear side of the vehicle-mounted control mechanism through a rotating bearing. The front vehicle body mechanism includes two groups of front drive units symmetrically arranged on the left and right. The rear vehicle body mechanism includes two groups of rear drive units symmetrically arranged on the left and right. The front drive units and the rear drive units can be independently driven, and the front drive units and the rear drive units are electrically connected to the vehicle-mounted control mechanism.

2. The four-wheel drive adaptive tank cleaning robot according to claim 1, wherein The front vehicle body mechanism further includes a front vehicle frame body, a front array of arc magnets and a front vehicle upper cover. The two groups of front drive units are symmetrically arranged on the left and right sides of the front vehicle frame body. The front array of arc magnets is arranged at the lower part of the front vehicle frame body. The front vehicle upper cover is hermetically connected to the front vehicle frame body through a seal.

3. The four-wheel drive adaptive tank cleaning robot according to claim 2, characterized in that, The rear vehicle body mechanism further includes a rear vehicle frame body, a rear array of arc magnets and a rear vehicle upper cover. The two groups of rear drive units are symmetrically arranged on the left and right sides of the rear vehicle frame body. The rear array of arc magnets is arranged at the lower part of the rear vehicle frame body. The rear vehicle upper cover is hermetically connected to the rear vehicle frame body through a seal.

4. The four-wheel drive adaptive tank cleaning robot according to claim 3, wherein, The front drive units and the rear drive units include an integrated joint motor, a motor flange and a drive wheel. The fixed end face of the integrated joint motor is fixedly connected to one end of the motor flange. The other end of the motor flange is fixedly connected to the front vehicle frame body or the rear vehicle frame body. The output end face of the integrated joint motor is fixedly connected to the drive wheel.

5. The four-wheel drive adaptive tank cleaning robot according to claim 4, wherein Reserved holes for accommodating cables to pass through are reserved inside the front vehicle frame body and the rear vehicle frame body.

6. The four-wheel drive adaptive tank cleaning robot according to claim 1, characterized in that, It further includes a video monitoring mechanism. The video monitoring mechanism is fixedly connected to the housing of the vehicle-mounted control mechanism and is electrically connected to the vehicle-mounted control mechanism.

7. The four-wheel drive adaptive tank cleaning robot according to claim 6, wherein The video monitoring mechanism includes a camera bracket and a pan-tilt camera. The pan-tilt camera is fixedly connected to the housing of the vehicle-mounted control mechanism through the camera bracket and is electrically connected to the vehicle-mounted control mechanism.

8. The four-wheel drive adaptive tank cleaning robot according to claim 7, characterized in that, The video monitoring mechanism further includes a fall arrester hanging point fixedly connected to the camera bracket.

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