Multifunctional hull cleaning robot

Abstract

The utility model discloses a multifunctional hull cleaning robot, and belongs to the technical field of hull cleaning instruments. Comprising an electromagnetic track wall-climbing robot, the electromagnetic track wall-climbing robot comprises a rack, a track and first electromagnetic chucks annularly distributed on the track, and the electromagnetic track wall-climbing robot further comprises a high-pressure washing mechanism rotationally arranged on the rack; the angle adjusting mechanism is fixed on the rack and is used for adjusting the flushing angle of the high-pressure flushing mechanism; the scraper knife assemblies can be adjusted in a telescopic mode, the scraper knife assemblies are fixed to the machine frame and arranged on one side of the high-pressure flushing mechanism, and therefore large-area attachments are flushed through the multiple scraper knife assemblies and the high-pressure flushing mechanism, the high-pressure flushing mechanism firstly, and then the attachments which cannot be flushed and fall off are removed through the scraper knife assemblies; the technical effects that the cleaning task can be completed at a time, the functions of the cleaning robot are increased, and the cleaning efficiency is improved are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of hull cleaning equipment, and more specifically, to a multifunctional hull cleaning robot. Background Art

[0002] As an important means of maritime transportation, ships are soaked in seawater for a long time, and a large number of marine organisms such as shellfish and barnacles are attached to the ship, causing corrosion of the hull, increasing transportation time and fuel consumption.

[0003] At present, hull cleaning is done manually or by electromagnetic crawler wall-climbing robots using high-pressure water flow. The motor drives the crawler to move on the hull surface and removes attached organisms by flushing. However, the high-pressure flushing process can only flush away attachments with poor adsorption capacity. During the cleaning process, some stubborn attachments still cannot be cleaned off from the hull surface, so manual cleaning with a shovel is required for a second time. As a result, the current high-pressure flushing cleaning robots have relatively single functionality, cannot complete the cleaning task in one go, and have low cleaning efficiency.

[0004] In view of this, we propose a multifunctional hull cleaning robot. Utility Model Content

[0005] 1. Technical problems to be solved

[0006] The purpose of this application is to provide a multifunctional hull cleaning robot, which solves the technical problems in the above-mentioned background technology and realizes the technical effect of using multiple sets of scraper assemblies and high-pressure flushing mechanisms. The high-pressure flushing mechanism first flushes a large area of ​​attachments, and then uses the scraper assembly to remove the attachments that cannot be washed off. It can complete the cleaning task in one go, increase the function of the cleaning robot, and improve the cleaning efficiency.

[0007] 2. Technical solution

[0008] The technical solution of the present application provides a multifunctional hull cleaning robot, including an electromagnetic crawler wall-climbing robot, the electromagnetic crawler wall-climbing robot including a frame, a crawler, and a first electromagnetic suction cup annularly distributed on the crawler, and further comprising: a high-pressure flushing mechanism, the high-pressure flushing mechanism being rotatably disposed on the frame;

[0009] An angle adjustment mechanism, fixed on the frame, used to adjust the flushing angle of the high-pressure flushing mechanism;

[0010] Multiple sets of scraper blade assemblies, each of which is telescopically adjustable and fixed to a frame and placed on one side of the high-pressure flushing mechanism;

[0011] A reciprocating drive mechanism is fixed to the frame and is in transmission connection with the blade assembly, and is used to drive the blade assembly to reciprocate and extend;

[0012] The electromagnetic adsorption mechanism is fixed on the frame and can be raised and lowered and adjusted.

[0013] As an optional solution to the technical solution of this application document, an installation opening is reserved on the frame, a first shaft seat is symmetrically fixed on the inner side of the installation opening, and a second shaft seat is symmetrically fixed on the side of the frame close to the first shaft seat. The high-pressure flushing mechanism includes a main water pipe and a plurality of high-pressure nozzles that are vertical and connected to the main water pipe and a connecting pipe that is connected to the main water pipe. The main water pipe is rotatably arranged on the second shaft seat through a bearing. The angle adjustment mechanism includes a first servo motor and a worm connected to the first servo motor and a worm wheel engaged with the worm. The worm wheel is coaxially fixed to the main water pipe.

[0014] As an optional solution to the technical solution of the present application document, the shovel blade assembly includes a shovel head, a shovel handle fixed on the shovel head, a guide seat and a spring, the shovel handle is slidably inserted in the guide seat, a spring is fixed between the end of the shovel handle away from the shovel head and the guide seat, the guide seat is fixed on the frame, the reciprocating drive mechanism includes a second servo motor, a drive shaft, a plurality of incomplete gears coaxially fixed on the drive shaft and a tooth plate fixed on the shovel handle and meshing with the incomplete gears, the drive shaft is rotatably set on two first shaft seats through bearings, and the second servo motor is fixed on the frame and is transmission-connected to the drive shaft.

[0015] As an optional solution to the technical solution of this application document, the output shaft and the drive shaft of the second servo motor are coaxially fixed with sprockets, a chain is connected between the two sprockets, and the tooth sides of the two adjacent incomplete gears are separated.

[0016] As an optional solution to the technical solution of this application document, a plurality of shielding plates are fixed on the side of the frame close to the shovel handle, a strip hole is opened on the shovel handle, and the shielding plates are fixed with a limiting rod inserted into the strip hole.

[0017] As an optional solution to the technical solution of this application document, the electromagnetic adsorption mechanism includes a second electromagnetic suction cup, a servo electric cylinder and multiple guide rods. The second electromagnetic suction cup is placed under the frame. The servo electric cylinder is fixed on the frame and the piston rod passes through the frame and is fixed to the second electromagnetic suction cup. The guide rod is parallel to the piston rod and passes through the frame and is fixed to the second electromagnetic suction cup.

[0018] As an optional solution to the technical solution of this application document, the angle adjustment mechanism and the reciprocating drive mechanism are both covered with a protective shell.

[0019] 3. Beneficial effects

[0020] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0021] 1. This application uses an angle adjustment mechanism to adjust the spray angle of the high-pressure flushing mechanism, making it easier to adjust the inclination angle of the high-pressure water nozzle, thereby increasing the functionality of the high-pressure flushing mechanism. A reciprocating drive mechanism drives multiple blade assemblies to reciprocate and extend. As the blade assemblies reciprocate on the hull surface, they perform a secondary removal of stubborn deposits after flushing, completing the cleaning task in one go, improving cleaning efficiency and providing more diverse functions.

[0022] 2. This application utilizes a retractable electromagnetic adsorption mechanism to magnetically attach the frame to the hull, thereby improving the secure fixation between the frame and the hull. This prevents the frame from moving backward or falling off the hull when the blade assembly reciprocates and retracts to remove debris.

[0023] 3. The present application achieves intermittent meshing of the incomplete gears with the tooth plate by separating the tooth sides of two adjacent incomplete gears, so that the two adjacent shovel heads can move back and forth in an alternating manner, driving only half of the incomplete gears each time, thereby reducing the output power of the second servo motor and reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0025] Figure 2 A multifunctional hull cleaning robot disclosed in a preferred embodiment of this application Figure 1 A in the middle is an enlarged structural diagram;

[0026] Figure 3 This is a schematic diagram of the overall bottom structure of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of the overall front structure of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0028] Figure 5 This is a schematic diagram of the frame structure of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of the bottom structure of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0030] Figure 7 This is a schematic structural diagram of a blade assembly of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0031] Figure 8This is a schematic structural diagram of a reciprocating drive mechanism of a multifunctional hull cleaning robot disclosed in a preferred embodiment of the present application;

[0032] Figure 9 This is a schematic structural diagram of a multifunctional hull cleaning robot in a state of overall installation of a protective shell, disclosed in a preferred embodiment of the present application;

[0033] Explanation of the numbers in the figure: 1. Electromagnetic crawler wall-climbing robot; 11. Frame; 111. Mounting port; 112. First axle seat; 113. Second axle seat; 12. Crawler; 13. First electromagnetic suction cup; 14. Shielding plate; 141. Limit rod; 15. Traction ring; 2. High-pressure flushing mechanism; 21. Main water pipe; 22. High-pressure nozzle; 23. Connecting pipe; 3. Angle adjustment mechanism; 31. First servo motor; 32. Worm; 3 3. Worm gear; 4. Shovel blade assembly; 41. Shovel head; 42. Shovel handle; 421. Strip hole; 43. Guide seat; 431. Roller; 44. Spring; 5. Reciprocating drive mechanism; 51. Second servo motor; 511. Sprocket; 512. Chain; 52. Drive shaft; 53. Incomplete gear; 54. Tooth plate; 6. Electromagnetic adsorption mechanism; 61. Second electromagnetic suction cup; 62. Servo electric cylinder; 63. Guide rod; 7. Protective shell. DETAILED DESCRIPTION

[0034] The present application is further described in detail below with reference to the accompanying drawings.

[0035] A multifunctional hull cleaning robot includes an electromagnetic crawler wall-climbing robot 1, the electromagnetic crawler wall-climbing robot 1 including a frame 11, a crawler 12, and a first electromagnetic suction cup 13 annularly distributed on the crawler 12, and further includes: a high-pressure flushing mechanism 2, the high-pressure flushing mechanism 2 being rotatably disposed on the frame 11;

[0036] An angle adjustment mechanism 3, fixed to the frame 11, for adjusting the flushing angle of the high-pressure flushing mechanism 2;

[0037] Multiple blade assemblies 4, which are telescopically adjustable, are fixed to the frame 11 and are placed on one side of the high-pressure flushing mechanism 2;

[0038] The reciprocating drive mechanism 5 is fixed on the frame 11 and is in transmission connection with the blade assembly 4, and is used to drive the blade assembly 4 to reciprocate and extend;

[0039] The electromagnetic adsorption mechanism 6 is fixed on the frame 11 and can be raised and lowered and adjusted.

[0040] Reference Figure 1 - Figure 9In this embodiment, the electromagnetic crawler wall-climbing robot 1 is well known to those skilled in the art. The first electromagnetic suction cup 13 on the crawler 12 is magnetically attracted to the hull, and then the crawler 12 moves, so that the electromagnetic crawler wall-climbing robot 1 can be magnetically attracted and walk on the hull. The spray angle of the high-pressure flushing mechanism 2 is adjusted by the angle adjustment mechanism 3, which is convenient for adjusting the inclination angle of the high-pressure water nozzle, thereby increasing the functionality of the high-pressure flushing mechanism 2. The high-pressure flushing mechanism 2 first flushes and removes the attachments on the surface of the hull, and at the same time, the reciprocating drive mechanism 5 drives multiple groups of scraper assemblies 4 to reciprocate. When the scraper assemblies 4 are fitted on the surface of the hull and reciprocate, the stubborn attachments after flushing are removed for a second time, completing the cleaning task at one time and improving the cleaning efficiency. The functions are more diverse. When the liftable electromagnetic adsorption mechanism 6 is magnetically attracted to the hull, the fixing reliability of the frame 11 and the hull can be improved. Therefore, when the scraper assembly 4 reciprocates and retracts to remove the attachments, the frame 11 is prevented from moving backward or falling off the hull.

[0041] An installation opening 111 is reserved on the frame 11, and a first shaft seat 112 is symmetrically fixed on the inner side of the installation opening 111. A second shaft seat 113 is symmetrically fixed on the side of the frame 11 close to the first shaft seat 112. The high-pressure flushing mechanism 2 includes a main water pipe 21 and a plurality of high-pressure nozzles 22 that are vertical and connected to the main water pipe 21 and a connecting pipe 23 that is connected to the main water pipe 21. The main water pipe 21 is rotatably arranged on the second shaft seat 113 through a bearing. The angle adjustment mechanism 3 includes a first servo motor 31 and a worm 32 that is transmission-connected to the first servo motor 31 and a worm gear 33 that meshes with the worm 32. The worm gear 33 is coaxially fixed to the main water pipe 21.

[0042] Reference Figure 2 、 Figure 5 and Figure 9 The first servo motor 31 is fixed on the frame 11, and the output shaft is coaxially fixed with the worm 32. The connecting pipe 23 is used to connect with the high-pressure cleaning machine through a high-pressure cleaning hose, so that multiple high-pressure nozzles 22 can pass water and flush and clean the surface of the hull. At the same time, the first servo motor 31 drives the worm 32 to rotate in the forward direction, and the worm 32 drives the worm wheel 33 to rotate clockwise. The first servo motor 31 drives the worm 32 to rotate in the reverse direction, and the worm 32 drives the worm wheel 33 to rotate counterclockwise, thereby adjusting the spray angle of the high-pressure nozzle 22.

[0043] The shovel blade assembly 4 includes a shovel head 41, a shovel handle 42 fixed on the shovel head 41, a guide seat 43 and a spring 44. The shovel handle 42 is slidably inserted in the guide seat 43. A spring 44 is fixed between the end of the shovel handle 42 away from the shovel head 41 and the guide seat 43. The guide seat 43 is fixed on the frame 11. The reciprocating drive mechanism 5 includes a second servo motor 51, a drive shaft 52, a plurality of incomplete gears 53 coaxially fixed on the drive shaft 52, and a tooth plate 54 fixed on the shovel handle 42 and meshing with the incomplete gears 53. The drive shaft 52 is rotatably set on the two first shaft seats 112 through bearings. The second servo motor 51 is fixed on the frame 11 and is transmission connected to the drive shaft 52.

[0044] Reference Figure 2 - Figure 8 The tooth plate 54 is fixed on the shovel handle 42, and multiple rollers 431 are rotatably provided on the side walls and bottom walls of the guide seat 43 to reduce the friction coefficient between the shovel handle 42 and the guide seat 43 through the rotation of the rollers 431. When the second servo motor 51 drives the drive shaft 52 to rotate counterclockwise, and when the incomplete gear 53 engages with the tooth plate 54, the shovel handle 42 moves into the guide seat 43 and compresses the spring 44, causing the spring 44 to generate an elastic rebound force. When the incomplete gear 53 is disengaged from the tooth plate 54, the spring 44 elastically rebounds, causing the shovel handle 42 to pop outward along the guide seat 43, and the shovel head 41 fits against the surface of the hull and hits the attachments, thereby shoveling off the attachments on the surface of the hull.

[0045] The output shaft of the second servo motor 51 and the driving shaft 52 are coaxially fixed with sprockets 511 , a chain 512 is connected between the two sprockets 511 , and the tooth sides of two adjacent incomplete gears 53 are separated.

[0046] Reference Figure 2 、 Figure 4 and Figure 8 The second servo motor 51 and the drive shaft 52 are driven by the sprocket 511 and the chain 512, and the tooth sides of the two adjacent incomplete gears 53 are separated. When the drive shaft 52 rotates, the incomplete gears 53 can be meshed with the tooth plate 54 at intervals, so that the two adjacent shovel heads 41 can reciprocate in an interlaced manner, and only half of the incomplete gears 53 are driven each time. In this way, the output power of the second servo motor 51 can be reduced, and energy consumption can be reduced.

[0047] A plurality of shielding plates 14 are fixed to one side of the frame 11 close to the shovel handle 42 . The shovel handle 42 is provided with a strip-shaped hole 421 . The shielding plates 14 are fixed with a limiting rod 141 inserted into the strip-shaped hole 421 .

[0048] Reference Figure 1 、 Figure 3 、 Figure 6 and Figure 7The outer surface of the limit rod 141 can also be wrapped with a layer of rubber pad. First, it acts as a buffer when the strip hole 421 of the shovel handle 42 hits the limit rod 141 to prevent the shovel handle 42 from swinging back and forth after being hit. Second, it reduces the wear of the limit rod 141 and the strip hole 421. Third, it can reduce the impact noise. The strip hole 421 is arranged along the moving direction of the shovel handle 42. When the spring 44 elastically rebounds the shovel handle 42, the inner wall of the strip hole 421 on the side away from the shovel head 41 presses against the limit rod 141, preventing the shovel handle 42 from popping out from the guide seat 43, and at the same time positioning the tooth plate 54 to facilitate the engagement of the incomplete gear 53 with the tooth plate 54. At the same time, when the shovel handle 42 is extended, the shielding plate 14 blocks the strip hole 421 to prevent the cleaned attachments from falling into the strip hole 421 and getting stuck in the shovel handle 42.

[0049] The electromagnetic adsorption mechanism 6 includes a second electromagnetic suction cup 61, a servo electric cylinder 62 and multiple guide rods 63. The second electromagnetic suction cup 61 is placed below the frame 11. The servo electric cylinder 62 is fixed on the frame 11 and the piston rod passes through the frame 11 and is fixed to the second electromagnetic suction cup 61. The guide rod 63 is parallel to the piston rod and passes through the frame 11 and is fixed to the second electromagnetic suction cup 61.

[0050] Reference Figure 5 and Figure 6 The cylinder body of the servo electric cylinder 62 is fixed on the frame 11, and the piston rod and the guide rod 63 are parallel and both pass through the frame 11, so as to drive the lifting and lowering adjustment of the second electromagnetic suction cup 61 through the servo electric cylinder 62, and the sliding fit between the guide rod 63 and the frame 11 improves the lifting and lowering stability of the second electromagnetic suction cup 61, and when the second electromagnetic suction cup 61 is attached to the hull and energized and magnetized, it is magnetically attracted to the surface of the hull, thereby improving the fixing reliability of the frame 11 and the hull.

[0051] The angle adjustment mechanism 3 and the reciprocating drive mechanism 5 are both covered with a protective shell 7 .

[0052] Reference Figure 9 The protective shell 7 can protect the angle adjustment mechanism 3 and the reciprocating drive mechanism 5 to prevent debris from getting stuck in the tooth groove and interfering with the normal operation of the equipment.

[0053] Working principle: A traction ring 15 is fixed on the side of the frame 11 away from the shovel head 41. The traction ring 15 is fixed with a traction rope for towing the entire equipment to avoid damage caused by the equipment malfunction and falling from the hull surface into the water or falling on the ground. The electromagnetic crawler wall-climbing robot 1 is magnetically attracted by the first electromagnetic suction cup 13 and climbs on the surface of the hull. The first servo motor 31 is powered on to drive the worm 32 to rotate, and the worm 32 drives the worm gear 33 to drive the main water pipe 21 to rotate, thereby adjusting the water outlet angle of the high-pressure nozzle 22. After the adjustment is completed, the high-pressure washing machine passes water into the connecting pipe 23 through the high-pressure washing hose, and the connecting pipe 23 passes water into the main water pipe 21 and the high-pressure nozzle 22. At this time, the surface of the hull can be cleaned by the high-pressure nozzle 22 The attached barnacles and / or shellfish are washed away, and the shovel head 41 approaches the attachments that cannot be washed away, and at the same time the servo electric cylinder 62 extends, so that the second electromagnetic suction cup 61 is attached to the hull, and is energized and magnetically attracted to the hull. The second servo motor 51 drives the drive shaft 52 to rotate counterclockwise through the transmission of the sprocket 511 and the chain 512. When the incomplete gear 53 on the drive shaft 52 rotates counterclockwise, it pushes the tooth plate 54 and the shovel handle 42 to retract into the guide seat 43, and at the same time compresses the spring 44 to generate an elastic rebound force. When the incomplete gear 53 is disengaged from the tooth plate 54, the spring 44 rebounds, and the shovel handle 42 and the shovel head 41 pop out, so that the shovel head 41 can perform impact-type shoveling on the attachments that cannot be washed away.

Claims

1. A multifunctional hull cleaning robot, comprising an electromagnetic crawler wall-climbing robot (1), wherein the electromagnetic crawler wall-climbing robot (1) comprises a frame (11), a crawler (12), and a first electromagnetic suction cup (13) annularly distributed on the crawler (12), and is characterized in that: Also includes: A high-pressure flushing mechanism (2), wherein the high-pressure flushing mechanism (2) is rotatably mounted on a frame (11); An angle adjustment mechanism (3) is fixed to the frame (11) and is used to adjust the flushing angle of the high-pressure flushing mechanism (2); Multiple groups of scraper assemblies (4), the scraper assemblies (4) are telescopically adjustable, the scraper assemblies (4) are fixed on the frame (11) and are placed on one side of the high-pressure flushing mechanism (2); A reciprocating drive mechanism (5) is fixed on the frame (11) and is in transmission connection with the scraper assembly (4), and is used to drive the scraper assembly (4) to reciprocate and telescopically adjust; The electromagnetic adsorption mechanism (6) is fixed on the frame (11), and the electromagnetic adsorption mechanism (6) can be raised and lowered and adjusted.

2. The multifunctional hull cleaning robot according to claim 1, characterized in that: The frame (11) is provided with a mounting opening (111), a first shaft seat (112) is symmetrically fixed on the inner side of the mounting opening (111), and a second shaft seat (113) is symmetrically fixed on one side of the frame (11) close to the first shaft seat (112). The high-pressure flushing mechanism (2) comprises a main water pipe (21) and a plurality of vertical high-pressure nozzles (22) connected to the main water pipe (21) and a connecting pipe (23) connected to the main water pipe (21). The main water pipe (21) is rotatably arranged on the second shaft seat (113) through a bearing. The angle adjustment mechanism (3) comprises a first servo motor (31), a worm (32) connected to the first servo motor (31) and a worm gear (33) meshing with the worm gear (32). The worm gear (33) is coaxially fixed to the main water pipe (21).

3. The multifunctional hull cleaning robot according to claim 2, characterized in that: The shovel blade assembly (4) includes a shovel head (41), a shovel handle (42) fixed on the shovel head (41), a guide seat (43) and a spring (44). The shovel handle (42) is slidably inserted in the guide seat (43). A spring (44) is fixed between the end of the shovel handle (42) away from the shovel head (41) and the guide seat (43). The guide seat (43) is fixed on the frame (11). The reciprocating drive mechanism (5) includes a second servo motor (51), a drive shaft (52), a plurality of incomplete gears (53) coaxially fixed on the drive shaft (52) and a tooth plate (54) fixed on the shovel handle (42) and meshed with the incomplete gears (53). The drive shaft (52) is rotatably arranged on two first shaft seats (112) through a bearing. The second servo motor (51) is fixed on the frame (11) and is transmission-connected to the drive shaft (52).

4. The multifunctional hull cleaning robot according to claim 3, characterized in that: The output shaft and the drive shaft (52) of the second servo motor (51) are coaxially fixed with a sprocket (511), a chain (512) is connected between the two sprockets (511), and the tooth sides of two adjacent incomplete gears (53) are separated.

5. The multifunctional hull cleaning robot according to claim 3, characterized in that: A plurality of shielding plates (14) are fixed to one side of the frame (11) close to the shovel handle (42); a strip-shaped hole (421) is provided on the shovel handle (42); and a limiting rod (141) inserted into the strip-shaped hole (421) is fixed to the shielding plate (14).

6. The multifunctional hull cleaning robot according to claim 1, characterized in that: The electromagnetic adsorption mechanism (6) comprises a second electromagnetic suction cup (61), a servo electric cylinder (62) and a plurality of guide rods (63); the second electromagnetic suction cup (61) is placed below the frame (11); the servo electric cylinder (62) is fixed to the frame (11); the piston rod passes through the frame (11) and is fixed to the second electromagnetic suction cup (61); the guide rod (63) is parallel to the piston rod and passes through the frame (11) and is fixed to the second electromagnetic suction cup (61).

7. The multifunctional hull cleaning robot according to claim 1, characterized in that: The angle adjustment mechanism (3) and the reciprocating drive mechanism (5) are both covered with a protective shell (7).

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