Moving mechanism of underwater hull cleaning robot

Abstract

The utility model discloses a moving mechanism of an underwater hull cleaning robot, and belongs to the technical field of hull cleaning. The mechanism comprises a machine body; the box body consists of a hollow box cavity and a through hole; the propelling impeller is used for controlling the machine body to move in the horizontal direction, including advancing and retreating, transverse moving and in-situ rotation; the adsorption impeller is used for controlling the robot to move in the vertical direction, including heaving and overturning, and the adsorption impeller is further used for adsorbing the machine body to the surface of the ship body under negative pressure; the rollers are used for controlling movement of the machine body in the adsorption state. According to the moving mechanism of the underwater hull cleaning robot, through vector arrangement of the four adsorption impellers and the four propelling impellers, multi-dimensional motion control is achieved, the robot has various motion capacities such as heaving, advancing and retreating, transverse moving, bow rotating and in-situ rotation, and due to the high autonomy, the robot can clean the underwater hull under the condition that manual intervention is not needed; the ship is automatically driven to the ship from the shore and is automatically adsorbed to the ship body, and the high automation degree is shown.

Description

Technical Field

[0001] The utility model relates to the technical field of hull cleaning, in particular to a moving mechanism of an underwater hull cleaning robot. Background Art

[0002] In the shipping industry, hull cleaning and maintenance are crucial for ensuring navigational performance and economic efficiency. During extended voyages, the underwater hull can become stained with shellfish, seaweed, and rust, which can degrade the ship's hydrodynamic performance, increase fuel consumption, and even compromise its safety. These deposits not only increase the ship's resistance but can also cause hull corrosion, severely impacting its service life. Therefore, regular hull cleaning is an essential part of ship maintenance.

[0003] Currently, there are two main methods for hull cleaning: manual cleaning by divers and automated cleaning using hull cleaning robots. Although manual cleaning can achieve good cleaning results in some cases, it is labor-intensive, inefficient, and can only be used on small ships. In terms of automated cleaning, although cleaning robots have certain advantages in improving cleaning efficiency, existing technologies still have several problems that need to be solved. First, many hull cleaning robots mostly use permanent magnet crawler drive systems. This structure requires the robot to be manually fixed to a specific position on the hull before the cleaning task can be started. This process is not only cumbersome but also limits the robot's operational flexibility and cannot adapt to the shape and cleaning requirements of different ships. Second, existing cleaning robots are generally large and heavy, resulting in insufficient portability and difficulty in moving between different parts of the ship. In addition, the complex structural design increases the cost of manufacturing and maintenance, making these robots less economical and efficient in application. To this end, we propose a mobile mechanism for underwater hull cleaning robots to address the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a mobile mechanism for an underwater hull cleaning robot to solve the defects of existing hull cleaning robots, such as the need to be manually fixed before use and the large size and heavy weight, which lead to significant deficiencies in operational flexibility, portability, economy and cleaning efficiency.

[0005] In order to solve the above technical problems, the utility model provides a mobile mechanism of an underwater hull cleaning robot, comprising a body; the body is composed of a hollow box cavity and through holes arranged at the four corners of the box cavity;

[0006] Propelling impellers, there are four propulsion impellers, evenly distributed around the body, the propulsion impellers are used to control the horizontal movement of the body, including forward and backward, lateral movement and rotation in place;

[0007] An adsorption impeller is disposed in the through hole and is used to control the movement of the robot in the vertical direction, including heave, sink, and flip. The adsorption impeller is also used to adsorb the negative pressure of the robot body on the surface of the hull;

[0008] A pair of rollers are provided, one on each side of the machine body, for controlling the movement of the machine body in the adsorption state.

[0009] Preferably, the cleaning side surface of the machine body is also equipped with a plurality of universal wheels for supporting the movement of the machine body during cleaning.

[0010] Preferably, the propulsion impeller, the adsorption impeller and the roller can all be controlled independently.

[0011] Preferably, the propulsion impeller and the adsorption impeller are built-in motors.

[0012] Preferably, the machine body further comprises a driving member disposed in the box cavity, and the driving member provides power for the roller.

[0013] Preferably, the machine body further includes a cleaning part, an observation part, and a positioning part arranged on one side thereof.

[0014] Compared with the existing technology, the beneficial effects of the present invention are: the moving mechanism of the underwater hull cleaning robot of the present invention realizes multi-dimensional motion control through the vector arrangement of four adsorption impellers (vertical propulsion) plus four propulsion impellers (horizontal propulsion), and the adsorption impeller can be used as a propeller for motion control when in the non-adsorption state, so that the robot has multiple motion capabilities such as heaving, advancing and retreating, moving sideways, turning the bow and rotating in place. This high autonomy and flexibility enables the robot to automatically drive from the shore to the ship and autonomously adsorb on the hull without human intervention, showing a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the mobile mechanism of an underwater hull cleaning robot provided by the utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of the mobile mechanism of an underwater hull cleaning robot provided by the utility model;

[0017] In the figure: 1. Body; 101. Box cavity; 102. Through hole; 103. Universal wheel; 104. Driving part; 105. Cleaning part; 106. Observation part; 107. Positioning part; 2. Propelling impeller; 3. Adsorption impeller; 4. Roller. DETAILED DESCRIPTION

[0018] The following is a further detailed description of the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are greatly simplified and not to exact scale, and are intended solely to facilitate and clearly illustrate the embodiments of the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances. Example

[0021] The utility model provides a mobile mechanism for an underwater hull cleaning robot. Figures 1-2 , including a body 1; the body 1 is composed of a hollow box cavity 101 and through holes 102 arranged at the four corners of the box cavity 101; a propulsion impeller 2, four of which are evenly distributed around the body 1, and the propulsion impeller 2 is used to control the movement of the body 1 in the horizontal direction, including forward and backward, lateral movement and rotation on the spot; an adsorption impeller 3, the adsorption impeller 3 is arranged in the through hole 102, and is used to control the movement of the robot in the vertical direction, including heave and flip, and the adsorption impeller 3 is also used to negatively adsorb the body 1 on the surface of the hull; a pair of rollers 4 are provided, which are respectively arranged on both sides of the body 1, and are used to control the movement of the body 1 in the adsorption state.

[0022] The cleaning side surface of the body 1 is also equipped with a plurality of universal wheels 103 for supporting the movement of the body during cleaning; the propulsion impeller 2, the adsorption impeller 3 and the roller 4 can be independently controlled; the propulsion impeller 2 and the adsorption impeller 3 are built-in motors; the body 1 includes a driving member 104 arranged in the box cavity 101, and the driving member 104 provides power for the roller 4; the body 1 also includes a cleaning member 105, an observation member 106, and a positioning member 107 arranged on one side thereof.

[0023] It should be noted that the box cavity 101, the through hole 102 and other parts of the body 1 are made of engineering plastics. Engineering plastics have excellent corrosion resistance and lightweight properties and are suitable for use in underwater environments. The box cavity 101 is a hollow structure, which provides the necessary buoyancy for the cleaning robot. There are four through holes 102, which are respectively opened at the four corners of the box cavity 101. The through holes 102 pass through the box cavity 101 and are connected to the outside world. The open end faces are equipped with filter screens to filter impurities in the water to avoid damage to the impeller.

[0024] Preferably, four cavities are provided at the four corners of the body 1, in which universal wheels 103 are installed, in order to support the body 1 to follow the movement of the roller 4 during the cleaning process and reduce friction. When encountering obstacles, the universal wheels 103 can roll flexibly to ensure smooth passage.

[0025] Preferably, the driving member 104 is located in a motor compartment within the upper and lower box cavities 101. The driving member 104 includes three sets of drives, which respectively control two rollers 4 and a cleaning member 105. The roller 4 is a two-drive design, and the steering of the robot is achieved through differential control. The roller 4 is connected to the driving member 104 through a drive shaft, and the connection port is sealed with sealing materials such as sealing rings to prevent water from flowing into the motor compartment.

[0026] Preferably, four propulsion impellers 2 are provided, which are fixedly mounted at the four corners of the through hole 102, and the adsorption impeller 3 is fixed at the center of the through hole 102. Both sets of impellers can rotate in both directions to generate bidirectional vortexes, forming reverse thrust in the opposite direction of the vortexes to propel the robot to move.

[0027] Preferably, the cleaning part 105 uses a disc-shaped cleaning brush, which is composed of a chassis and dense cleaning bristles. It is connected to the driving part 104 through a drive shaft and is sealed. The observation part 106 is composed of an observation cover and a camera installed inside the observation cover. The camera has a 270-degree rotating field of view. This design enables the robot to analyze the position and direction in real time, and link the positioning part 107 to plan the path and move autonomously. The positioning part 107 uses a DVL Doppler speedometer. The DVL Doppler speedometer serves as a positioning and navigation device for the cleaning robot. It can automatically adjust the servo when the robot is flipped and working level, ensuring that the speedometer is facing downward to provide precise navigation and positioning.

[0028] In summary, the mobile mechanism of the underwater hull cleaning robot of the utility model realizes multi-dimensional motion control through the vector arrangement of four adsorption impellers (vertical propulsion) plus four propulsion impellers (horizontal propulsion). The adsorption impeller can be used as a propeller for motion control when in the non-adsorption state, so that the robot has multiple motion capabilities such as heaving, advancing and retreating, moving sideways, turning the bow and rotating in place. This high autonomy and flexibility enables the robot to automatically drive from the shore to the ship and autonomously adsorb on the hull without human intervention, showing a high degree of automation.

[0029] The above description is only a description of the preferred embodiment of the present invention and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A mobile mechanism of an underwater hull cleaning robot, characterized in that: include: The body (1) is composed of a hollow box cavity (101) and through holes (102) arranged at the four corners of the box cavity (101); Propelling impellers (2), four of which are evenly distributed around the machine body (1), and the propulsion impellers (2) are used to control the movement of the machine body (1) in the horizontal direction, including forward and backward movement, lateral movement, and rotation in place; An adsorption impeller (3), the adsorption impeller (3) being arranged in the through hole (102) and used for controlling the movement of the robot in the vertical direction, including heave, sink, and flip. The adsorption impeller (3) is also used for negatively adsorbing the body (1) on the surface of the hull; A pair of rollers (4) are provided, each of which is arranged on both sides of the machine body (1) and is used to control the movement of the machine body (1) in the adsorption state.

2. The mobile mechanism of the underwater hull cleaning robot according to claim 1, characterized in that: The cleaning side surface of the machine body (1) is also equipped with a plurality of universal wheels (103) for supporting the movement of the machine body during cleaning.

3. The mobile mechanism of the underwater hull cleaning robot according to claim 1, characterized in that: The propulsion impeller (2), the adsorption impeller (3) and the roller (4) can all be controlled independently.

4. The mobile mechanism of the underwater hull cleaning robot according to claim 3, characterized in that: The propulsion impeller (2) and the adsorption impeller (3) are built-in motors.

5. The mobile mechanism of the underwater hull cleaning robot according to claim 2, characterized in that: The machine body (1) comprises a driving member (104) arranged in the box cavity (101), and the driving member (104) provides power for the roller (4).

6. The mobile mechanism of the underwater hull cleaning robot according to claim 5, characterized in that: The machine body (1) further comprises a cleaning part (105), an observation part (106), and a positioning part (107) arranged on one side thereof.

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