Underwater robot for ship cleaning

Abstract

The underwater robot for ship cleaning comprises an open machine shell, a first propeller is fixedly installed above the open machine shell, a second propeller is fixedly installed on the rear side of the open machine shell, and a rolling brush structure is arranged in front of the open machine shell. Due to the overall arrangement, not only can the bottom surface of the ship be cleaned in a large area, but also the surface of the ship propeller can be cleaned, so that the whole ship propeller cleaning device is more convenient and flexible.

Description

Technical Field

[0001] The utility model relates to the field of underwater robots, and in particular to an underwater robot for cleaning ships. Background Art

[0002] The ship cleaning underwater robot is an intelligent device specially designed to clean and maintain the external surface of the ship.

[0003] Ship cleaning underwater robots can clean and inspect key parts of the ship such as the hull, bottom, and propeller under the water.

[0004] A search revealed a Chinese patent application, CN 221163266 U, which discloses an underwater robot cleaning mechanism. The mechanism comprises a main body for moving underwater close to a ship's hull and performing a secondary fine brushing operation, and an adjustment device mounted in front of the main body for adjusting the height of a roller brush. A roller brush is slidably mounted on the adjustment device for rolling a coarse brush against the hull using eddy current propulsion. The adjustment device comprises a slide rail, a carriage is slidably mounted on the rail, a rack is provided in the middle of the rear of the carriage, a gear is engaged behind the rack, and an adjustment motor is mounted on one side of the gear. The underwater robot cleaning mechanism described in this utility model adapts to different hull surfaces by adjusting the height of the roller brush, improving the cleaning effect on different surfaces. The roller brush is improved by the eddy current propulsion against the hull, and the coarse brush is further improved by the rolling brush.

[0005] However, the existing underwater robots for ship cleaning can effectively clean the bottom of the ship, but cannot effectively clean the propeller.

[0006] Therefore, it is very necessary to invent an underwater robot for ship cleaning. Utility Model Content

[0007] In order to solve the above technical problems, the present invention provides a technical solution for an underwater robot for ship cleaning, which includes an open housing, wherein: a first propeller is fixedly installed above the open housing, a second propeller is fixedly installed on the rear side of the open housing, and a roller brush structure is provided in front of the open housing;

[0008] Preferably, the roller brush structure includes a roller brush driver, a roller brush supporter and a roller brush, wherein the roller brush driver and the roller brush supporter are fixedly mounted on both sides of the front of the open casing in a mirror-image position with the open casing as the center, one end of the roller brush is fixedly connected to the output end of the roller brush driver, and the other end of the roller brush is rotatably connected to the roller brush supporter, and the other end of the roller brush is detachable from the roller brush supporter;

[0009] Preferably, the roller brush driver includes a roller brush angle adjustment driver and a roller brush rotation driver, the roller brush rotation driver is fixedly installed at the output end of the roller brush angle adjustment driver, and the output end of the roller brush rotation driver is fixedly connected to one end of the roller brush;

[0010] Preferably, a control box is fixedly installed inside the open casing, a camera and a lighting lamp are fixedly installed on the outside of the control box facing the roller brush, and a control system for the first propeller, the second propeller, the roller brush driver, the roller brush support, the camera and the lighting lamp is fixedly installed inside the control box, and the control cables of the control system are routed from the rear side of the control box.

[0011] Preferably, the roller brush angle adjustment driver includes a first support arm, a first drive motor and a connecting shaft, one end of the first support arm is fixedly connected to a side in front of the open casing, a connecting shaft is rotatably installed above the other end of the first support arm, the first drive motor is fixedly installed below the other end of the first support arm, the output end of the first drive motor is rotatably connected to the first support arm, one end of the connecting shaft is coaxially fixedly connected to the output end of the first drive motor, and the other end of the connecting shaft is fixedly connected to the roller brush rotation driver.

[0012] Preferably, a limiting hole is provided through one end of the first support arm, and the output end of the first drive motor and the connection point of the connecting shaft are both rotatably mounted in the limiting hole.

[0013] Preferably, the roller brush rotation driver includes an F bracket and a second drive motor, one end of the F bracket is fixedly connected to one end of the connecting shaft, the second drive motor is fixedly installed between the two horizontal plates of the F bracket, the output end of the second drive motor is rotatably connected to the top horizontal plate of the F bracket, the top horizontal plate of the F bracket is rotatably connected to the center of one end of the roller brush through a rotating shaft, and the other end of the rotating shaft is coaxially fixedly connected to the output end of the second drive motor.

[0014] Preferably, a second limiting hole is formed through the uppermost horizontal plate of the F bracket, and the connection between the rotating shaft and the output end of the second driving motor is rotatably mounted in the second limiting hole.

[0015] Preferably, the roller brush support includes a second support arm, a third support arm, an electric telescopic cylinder and a bearing, one end of the second support arm is fixedly connected to the other side of the front of the open casing, the other end of the second support arm is fixedly connected to one end of the third support arm, the other end of the third support arm is fixedly installed with an electric telescopic cylinder, the output end of the electric telescopic cylinder faces one side of the roller brush driver, the output end of the electric telescopic cylinder is fixedly mounted with a bearing, and the electric telescopic cylinder is rotatably connected to one end of the roller brush through the bearing.

[0016] Preferably, the roller brush includes a support tube, a roller brush tube and an axial hole. The roller brush tube is coaxially sleeved and fixedly installed on the outside of the support tube. An axial hole corresponding to the bearing is coaxially opened at one end of the support tube. The support tube is rotatably connected to the bearing of the electric telescopic cylinder through the axial hole.

[0017] Compared with the prior art, the advantages of the present invention are:

[0018] The overall arrangement of the utility model can not only clean a large area of ​​the bottom surface of the ship, but also clean the surface of the ship's propeller, thereby making the overall cleaning more convenient and flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the separation structure of one end of the roller brush and the roller brush support of the utility model.

[0020] Figure 2 This is a schematic diagram of the structure in which one end of the roller brush and the roller brush supporter are not separated.

[0021] Figure 3 It is a schematic diagram of the overall rear structure of the utility model.

[0022] Figure 4 It is a partial enlarged structural diagram of point A of the present invention.

[0023] Figure 5 It is a partial enlarged structural diagram of point B of the present invention.

[0024] In the picture:

[0025] Open casing 1, first propeller 2, second propeller 3, roller brush driver 4, first support arm 41, first drive motor 42, connecting shaft 43, F bracket 44, second drive motor 45, roller brush support 5, second support arm 51, third support arm 52, electric telescopic cylinder 53, bearing 54, roller brush 6, support cylinder 61, roller brush cylinder 62, shaft hole 63, control box 7, control cable 8, camera 9, and lighting lamp 10. DETAILED DESCRIPTION

[0026] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present invention.

[0027] In the description of the embodiments, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions 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 devices or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the description of the utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0028] The present invention will be further described below with reference to the accompanying drawings: Example

[0029] Reference Figures 1-5 A ship cleaning underwater robot includes an open casing 1, wherein: a first propeller 2 is fixedly mounted above the open casing 1, so as to drive the ship cleaning underwater robot to move in one direction by the first propeller 2; a second propeller 3 is fixedly mounted on the rear side of the open casing 1, so as to drive the ship cleaning underwater robot to move in another direction by the second propeller 3; a roller brush structure is provided in front of the open casing 1, so as to clean the bottom surface of the ship and the propeller by the roller brush structure;

[0030] In this embodiment, the roller brush structure includes a roller brush driver 4, a roller brush supporter 5 and a roller brush 6. The roller brush driver 4 and the roller brush supporter 5 are fixedly installed on both sides of the front of the open casing 1 in a mirrored position with the open casing 1 as the center, so as to ensure the stability of the roller brush 6 when the roller brush 6 is used to clean a large area of ​​the bottom surface of the ship. One end of the roller brush 6 is fixedly connected to the output end of the roller brush driver 4 so that the roller brush 6 is driven to rotate by the roller brush driver 4. The other end of the roller brush 6 is rotatably connected to the roller brush supporter 5. The other end of the roller brush 6 is detachable from the roller brush supporter 5, so that after the roller brush 6 is separated from the roller brush supporter 5, the propeller surface of the ship can be cleaned through one end of the roller brush 6.

[0031] In this embodiment, the roller brush driver 4 includes a roller brush angle adjustment driver and a roller brush rotation driver. The roller brush rotation driver is fixedly installed at the output end of the roller brush angle adjustment driver. Through the setting of the roller brush angle adjustment driver, the angle between the roller brush 6 and the open housing 1 can be adjusted after the roller brush 6 is separated from the roller brush support 5, so as to clean the surface of the ship propeller. The output end of the roller brush rotation driver is fixedly connected to one end of the roller brush 6. Through the setting of the roller brush rotation driver, the roller brush 6 can be provided with the power required to clean the surface of the ship.

[0032] In this embodiment, a control box 7 is fixedly installed inside the open casing 1, and a camera 9 and a lighting lamp 10 are fixedly installed on the outside of the control box 7 facing the roller brush 6. A control system for the first propeller 2, the second propeller 3, the roller brush driver 4, the roller brush support 5, the camera 9 and the lighting lamp 10 is fixedly installed inside the control box 7. The control cable 8 of the control system is routed from the rear side of the control box 7 so as to be connected to the operation panel through the control cable 8.

[0033] In this embodiment, the roller brush angle adjustment driver includes a first support arm 41, a first drive motor 42 and a connecting shaft 43. One end of the first support arm 41 is fixedly connected to one side in front of the open casing 1, and a connecting shaft 43 is rotatably installed above the other end of the first support arm 41. The first drive motor 42 is fixedly installed below the other end of the first support arm 41. Through the setting of the first support arm 41, the connecting shaft 43 and the first drive motor 42 can be supported to ensure the stability between the first drive motor 42 and the connecting shaft 43, while avoiding the weight of the roller brush rotation driver and the roller brush 6 directly acting on the first drive motor 42. The output end of the first drive motor 42 is rotatably connected to the first support arm 41, one end of the connecting shaft 43 is coaxially and fixedly connected to the output end of the first drive motor 42, and the other end of the connecting shaft 43 is fixedly connected to the roller brush rotation driver.

[0034] In this embodiment, a limiting hole is provided through one end of the first support arm 41, and the output end of the first drive motor 42 and the connection point of the connecting shaft 43 are both rotatably installed in the limiting hole. The limiting hole is set so that the output end of the first drive motor 42 and the connecting shaft 43 can be connected, and the stability and smoothness of the rotation between them are guaranteed.

[0035] In the embodiment, the rolling brush rotating driver includes an F bracket 44 and a second driving motor 45. One end of the F bracket 44 is fixedly connected with one end of the connecting shaft 43, and the second driving motor 45 is fixedly installed between the two horizontal plates of the F bracket 44. The output end of the second driving motor 45 is rotationally connected with the uppermost horizontal plate of the F bracket 44. The F bracket 44 can support the second driving motor 45 and the rotating shaft, so that the weight of the rolling brush 6 does not directly act on the second driving motor 45. The uppermost horizontal plate of the F bracket 44 is rotationally connected with the center of one end of the rolling brush 6 through the rotating shaft, and the other end of the rotating shaft is fixedly connected with the output end of the second driving motor 45.

[0036] In the embodiment, a limiting hole two is formed through the uppermost horizontal plate of the F bracket 44. The rotating shaft is rotationally installed in the limiting hole two at the connection position with the output end of the second driving motor 45. The limiting hole two is arranged to connect the rotating shaft with the output end of the second driving motor 45 and ensure the stability and smoothness during rotation.

[0037] In the embodiment, the rolling brush support 5 includes a second support arm 51, a third support arm 52, an electric telescopic cylinder 53, and a bearing 54. One end of the second support arm 51 is fixedly connected with the other side of the front of the open casing 1. The other end of the second support arm 51 is fixedly connected with one end of the third support arm 52. The second support arm 51 and the third support arm 52 can support the electric telescopic cylinder 53 and the rolling brush 6. The other end of the third support arm 52 is fixedly installed with the electric telescopic cylinder 53. When the rolling brush 6 is used to clean a large area of the bottom surface of the ship, the output end of the electric telescopic cylinder 53 can carry the bearing 54 into the shaft hole 63, so as to ensure the stability during rotation of the rolling brush 6. The output end of the electric telescopic cylinder 53 faces one side of the rolling brush driver 4, so as to be connected or separated with the rolling brush 6. The output end of the electric telescopic cylinder 53 is fixedly installed with the bearing 54. The electric telescopic cylinder 53 is rotationally connected with one end of the rolling brush 6 through the bearing 54.

[0038] In the embodiment, the rolling brush 6 includes a support cylinder 61, a rolling brush cylinder 62, and a shaft hole 63. The rolling brush cylinder 62 is coaxially fixedly installed outside the support cylinder 61. The support cylinder 61 can ensure the strength of the contact position between the rolling brush 6 and the bearing 54. One end of the support cylinder 61 is coaxially provided with the shaft hole 63 corresponding to the bearing 54. After the one end of the rolling brush 6 is connected with the bearing 54 carried by the electric telescopic cylinder 53, the stability and smoothness during rotation between them can be ensured. The support cylinder 61 is rotationally connected with the bearing 54 of the electric telescopic cylinder 53 through the shaft hole 63.

[0039] It should be noted that the first driving motor 42 can be positively or negatively rotated from 0 to 270 degrees with the output end of the electric telescopic cylinder 53 as the starting point.

[0040] The utility model can clean a large area of ​​the bottom of a ship. Figure 2 As shown, the roller brush 6 is placed between the roller brush driver 4 and the roller brush support 5, and the electric telescopic cylinder 53 drives the bearing 54 into the shaft hole 63, so that the stability of the roller brush 6 during the large-area cleaning process of the bottom surface of the ship can be ensured;

[0041] When the propeller surface of the ship needs to be cleaned, the electric telescopic cylinder 53 drives the bearing 54 to move out of the shaft hole 63, and then the first drive motor 42 drives the roller brush to rotate. The driver carries the roller brush 6 to rotate counterclockwise, as shown in FIG. Figure 1 As shown, it is only necessary to stop the roller brush 6 at the desired position; then it can be moved to the propeller of the ship, and the surface of the propeller can be cleaned through the end of the roller brush 6 with the shaft hole 63.

[0042] Utilizing the technical solution described in the utility model, or those skilled in the art designing similar technical solutions inspired by the technical solution of the utility model to achieve the above-mentioned technical effects, all fall within the scope of protection of the utility model.

Claims

1. An underwater robot for ship cleaning, characterized by: It comprises an open casing (1), wherein: a first propeller (2) is fixedly mounted on the upper side of the open casing (1), a second propeller (3) is fixedly mounted on the rear side of the open casing (1), and a roller brush structure is provided in front of the open casing (1); The roller brush structure comprises a roller brush driver (4), a roller brush supporter (5) and a roller brush (6); the roller brush driver (4) and the roller brush supporter (5) are fixedly mounted on both sides of the front of the open housing (1) in a mirror-image position with the open housing (1) as the center; one end of the roller brush (6) is fixedly connected to the output end of the roller brush driver (4); the other end of the roller brush (6) is rotatably connected to the roller brush supporter (5); and the other end of the roller brush (6) is separable from the roller brush supporter (5); The roller brush driver (4) comprises a roller brush angle adjustment driver and a roller brush rotation driver, the roller brush rotation driver being fixedly mounted on the output end of the roller brush angle adjustment driver, and the output end of the roller brush rotation driver being fixedly connected to one end of the roller brush (6); A control box (7) is fixedly installed inside the open housing (1); a camera (9) and a lighting lamp (10) are fixedly installed on the outside of the control box (7) on a side facing the roller brush (6); a control system for a first propeller (2), a second propeller (3), a roller brush driver (4), a roller brush supporter (5), a camera (9) and a lighting lamp (10) is fixedly installed inside the control box (7); a control cable (8) of the control system is routed from the rear side of the control box (7).

2. The underwater robot for ship cleaning according to claim 1, characterized in that: The roller brush angle adjustment driver comprises a first support arm (41), a first drive motor (42) and a connecting shaft (43), one end of the first support arm (41) is fixedly connected to a side in front of the open housing (1), a connecting shaft (43) is rotatably mounted above the other end of the first support arm (41), the first drive motor (42) is fixedly mounted below the other end of the first support arm (41), an output end of the first drive motor (42) is rotatably connected to the first support arm (41), one end of the connecting shaft (43) is coaxially fixedly connected to the output end of the first drive motor (42), and the other end of the connecting shaft (43) is fixedly connected to the roller brush rotation driver.

3. The underwater robot for ship cleaning according to claim 2, characterized in that: A limiting hole is provided through one end of the first support arm (41), and the output end of the first drive motor (42) and the connection point of the connecting shaft (43) are both rotatably mounted in the limiting hole.

4. The underwater robot for ship cleaning according to claim 3, characterized in that: The roller brush rotation driver comprises an F bracket (44) and a second drive motor (45), one end of the F bracket (44) is fixedly connected to one end of the connecting shaft (43), the second drive motor (45) is fixedly installed between two transverse plates of the F bracket (44), the output end of the second drive motor (45) is rotationally connected to the uppermost transverse plate of the F bracket (44), the uppermost transverse plate of the F bracket (44) is rotationally connected to the center of one end of the roller brush (6) through a rotating shaft, and the other end of the rotating shaft is coaxially fixedly connected to the output end of the second drive motor (45).

5. The underwater robot for ship cleaning according to claim 4, characterized in that: A second limiting hole is provided through the uppermost horizontal plate of the F bracket (44), and the connection between the rotating shaft and the output end of the second drive motor (45) is rotatably mounted in the second limiting hole.

6. The underwater robot for ship cleaning according to claim 1, characterized in that: The roller brush support (5) comprises a second support arm (51), a third support arm (52), an electric telescopic cylinder (53) and a bearing (54); one end of the second support arm (51) is fixedly connected to the other side of the front of the open housing (1); the other end of the second support arm (51) is fixedly connected to one end of the third support arm (52); the other end of the third support arm (52) is fixedly mounted with the electric telescopic cylinder (53); the output end of the electric telescopic cylinder (53) faces one side of the roller brush driver (4); the output end of the electric telescopic cylinder (53) is sleeved and fixedly mounted with a bearing (54); the electric telescopic cylinder (53) is rotatably connected to one end of the roller brush (6) via the bearing (54).

7. The underwater robot for ship cleaning according to claim 6, characterized in that: The roller brush (6) comprises a support tube (61), a roller brush tube (62) and an axial hole (63); the roller brush tube (62) is coaxially sleeved and fixedly mounted on the outside of the support tube (61); an axial hole (63) corresponding to the bearing (54) is coaxially opened at one end of the support tube (61); the support tube (61) is rotatably connected to the bearing (54) of the electric telescopic cylinder (53) through the axial hole (63).

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