Wall-climbing robot for ship cleaning

Abstract

The wall-climbing robot comprises a machine body, a chassis is fixedly arranged at the bottom of the machine body, a driving assembly for driving the chassis to climb a wall is arranged on the chassis, a first sliding groove is formed in the chassis, a second sliding block is arranged in the first sliding groove in a sliding mode, and a fixing shell is fixedly arranged on the second sliding block; a cleaning shovel is slidably arranged in the fixing shell, a spring is fixedly arranged between the cleaning shovel and the fixing shell, and a power assembly for driving the second sliding block to reciprocate is arranged on the chassis. When stubborn stains need to be cleaned in a reciprocating mode, the fixed shell drives the cleaning shovel to move in a reciprocating mode to shovel stubborn impurities on the surface of the ship, the robot is prevented from integrally moving in a reciprocating mode, and therefore the robot is convenient to operate when cleaning the stubborn stains, and the cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to wall -climbing robot technical field, concretely is a wall -climbing robot for ship cleaning. BACKGROUND

[0002] The wall -climbing robot can climb on the vertical wall and complete the work of the automation robot, and is the automation robot. When the ship sails, stains will be attached to the ship and need to be cleaned, so the wall -climbing robot needs to be used for cleaning.

[0003] A ship cleaning robot is disclosed in the Chinese patent document with the publication number CN220865626U, which includes a body and a scraping device. The bottom end of the body is rotatably connected to two main cleaning brushes. The bottom end of the body is rotatably connected to a secondary cleaning brush. The two sides of the body are both provided with a heat dissipation part. The surface of the body is provided with two scraping devices. The scraping device includes a placement block, which is fixedly connected to the sidewall of the placement block and the surface of the body. A fixed frame is inserted into the inner wall of the placement block. A scraper is rotatably connected to the inner wall of the fixed frame. Two positioning pins are threadedly connected to the inner wall of the placement block and the fixed frame. When the body moves, the scraper moves. The scraper moves on the surface of the clamping plate. By setting the scraper, stubborn stains can be cleaned to some extent.

[0004] The above-mentioned solution has the following disadvantages: when cleaning stubborn stains, the scraper needs to move back and forth to scrape them. At this time, the body needs to move back and forth to drive the scraper to move back and forth to clean the stains, which makes the operation inconvenient, time-consuming and laborious, and reduces the efficiency of cleaning the stains. UTILITY MODEL CONTENTS

[0005] The utility model solves the technical problem of overcoming the defects of the prior art and provides a wall -climbing robot for ship cleaning. The cleaning shovel is driven to move back and forth by the power assembly, the robot as a whole is avoided to move back and forth, and the problems in the background art can be effectively solved.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a wall -climbing robot for ship cleaning, including the body, the bottom of the body is fixedly provided with the bottom disc, and the bottom disc is provided with the drive assembly that drives it to climb the wall. A first sliding slot is formed in the bottom disc, a second sliding block is slidably arranged in the first sliding slot, a fixed shell is fixedly arranged on the second sliding block, a cleaning shovel is slidably arranged in the fixed shell, a spring is fixedly arranged between the cleaning shovel and the fixed shell, and a power assembly that drives the second sliding block to move back and forth is arranged on the bottom disc.

[0007] Further, the power assembly comprises a second rotating shaft, a fixed plate is fixedly arranged in the chassis, the second rotating shaft is rotatably arranged on the fixed plate, and a rotating assembly for driving the second rotating shaft to rotate is arranged on the fixed plate; a second gear is fixedly arranged on the second rotating shaft, a first connecting shaft is fixedly arranged on the second gear, a crank is rotatably arranged on the first connecting shaft, a second connecting shaft is rotatably arranged at the other end of the crank, and the second connecting shaft is fixedly connected with the second sliding block.

[0008] Further, the rotating assembly comprises a motor, the motor is fixedly arranged on the fixed plate, a first rotating shaft is fixedly arranged at the output end of the motor, a first gear is fixedly arranged on the first rotating shaft, and the first gear is engaged with the second gear.

[0009] Further, the first rotating shaft extends to below the chassis and is fixedly arranged with a cleaning brush.

[0010] Further, the driving assembly comprises two fixed seats and two turning seats, the two fixed seats are fixedly arranged at the bottom of the chassis, the two fixed seats are rotatably arranged with driving wheels, the two fixed seats are fixedly arranged with first motors, the first motors are fixedly connected with the driving wheels, the two turning seats are rotatably arranged at the bottom of the chassis, the two turning seats are rotatably arranged with guide wheels, two third motors are fixedly arranged on the chassis, the output ends of the two third motors are fixedly connected with the corresponding turning seats, and the outer circumferences of the driving wheels and the guide wheels are fixedly arranged with a plurality of permanent magnets.

[0011] Further, the plurality of permanent magnets are arranged in a circumferential array, and an anti-skid strip is fixedly arranged between adjacent two permanent magnets.

[0012] Further, the chassis is symmetrically provided with a second sliding groove, the first sliding block is slidably arranged in the second sliding groove, and the first sliding block is fixedly connected with the fixed shell.

[0013] Further, the machine body is fixedly provided with a camera on one side.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] Since a power assembly that drives the second slider to move back and forth is provided on the chassis, during the cleaning process, the robot starts the second motor, the second motor drives the first rotating shaft to rotate, the first rotating shaft simultaneously drives the first gear to rotate, the first gear drives the second gear to rotate, the second gear drives the first connecting shaft to rotate around the central axis of the second rotating shaft, so that the first connecting shaft drives the crank to rotate, and the crank drives the second slider to move back and forth along the first slide groove through the second connecting shaft, so that the second slider drives the fixed shell to move back and forth, and the fixed shell drives the cleaning shovel to move back and forth to remove stubborn impurities on the surface of the ship, avoiding the need to make the robot reciprocate as a whole when encountering stubborn stains that need to be cleaned back and forth, so that the robot is easy to operate when cleaning stubborn stains, thereby improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of the structure of the utility model;

[0017] Figure 2 It is a cross-sectional view of the structure of the utility model;

[0018] Figure 3 This is a cross-sectional view of the chassis structure of the utility model;

[0019] Figure 4 This is an enlarged view of structure A of the utility model;

[0020] Figure 5 This is an enlarged view of structure B of the utility model;

[0021] Figure 6 A three-dimensional diagram of the fixed shell and the cleaning shovel of the utility model;

[0022] Figure 7 This is a three-dimensional diagram of the guide wheel of the utility model structure.

[0023] In the figure: 1. Body; 2. Camera; 3. Chassis; 4. Guide wheel; 5. Steering seat; 6. Cleaning shovel; 7. Fixed shell; 8. Cleaning brush; 9. Driving wheel; 10. Fixed seat; 11. First motor; 12. Fixed plate; 13. Second motor; 14. Third motor; 15. Crank; 16. First rotating shaft; 17. First slide; 18. Second slide; 19. First slider; 20. First gear; 21. Second rotating shaft; 22. First connecting shaft; 23. Second gear; 24. Spring; 25. Second slider; 26. Second connecting shaft; 27. Permanent magnet; 28. Anti-slip strip. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] See also Figure 1-Figure 7 The utility model provides a technical solution: a wall-climbing robot for ship cleaning, comprising a body 1, on one side of the top of the body 1 is symmetrically fixedly provided with a camera 2. A chassis 3 is fixedly provided at the bottom of the body 1, and a driving assembly for driving it to climb the wall is provided on the chassis 3. The driving assembly includes two fixed seats 10 and two steering seats 5, and the fixed seats 10 and the steering seats 5 are both in an inverted "U" shape. The two fixed seats 10 are symmetrically fixed on the bottom rear side of the chassis 3, and a driving wheel 9 is rotatably provided in the two fixed seats 10 through a rotating shaft. A first motor 11 is fixedly provided on one side of the two fixed seats 10, and the first motor 11 is fixedly connected to the rotating shaft of the driving wheel 9.

[0026] Two steering seats 5 are symmetrically rotatably arranged on the bottom front side of the chassis 3, and guide wheels 4 are rotatably arranged in both steering seats 5. Two third motors 14 are symmetrically fixedly arranged in the chassis 3, and the output ends of the two third motors 14 respectively pass downward through the chassis 3 and are fixedly connected to the corresponding steering seats 5. A plurality of permanent magnets 27 are respectively fixedly arranged on the periphery of the driving wheel 9 and the guide wheel 4. The permanent magnets 27 can maintain their magnetism for a long time, so that the driving wheel 9 and the guide wheel 4 can adsorb the ship and facilitate wall climbing. A plurality of permanent magnets 27 are arranged in a circumferential array, and an anti-slip strip 28 is fixedly arranged between two adjacent permanent magnets 27. Increase the friction between the driving wheel 9 and the guide wheel 4 and the ship.

[0027] A first chute 17 is defined within the bottom wall of the chassis 3. A second slider 25 slides within the first chute 17. The bottom end of the second slider 25 extends downward to the bottom of the chassis 3 and is fixedly mounted to the fixed housing 7. The fixed housing 7 is V-shaped, and the top center of the fixed housing 7 is fixedly connected to the second slider 25. A cleaning shovel 6 slides within the fixed housing 7. Three springs 24 are fixedly mounted between the cleaning shovel 6 and the fixed housing 7, and the three springs 24 are evenly distributed. A second chute 18 is symmetrically defined at the bottom of the chassis 3. A first slider 19 slides within the second chute 18. The bottom end of the first slider 19 extends to the bottom of the chassis 3 and is fixedly connected to the fixed housing 7. This increases the stability of the fixed housing 7 during movement.

[0028] The chassis 3 is equipped with a power assembly that drives the reciprocating movement of the second slider 25. The power assembly includes a second rotating shaft 21. A fixed plate 12 is fixedly mounted within the chassis 3. The second rotating shaft 21 is rotatably mounted on the bottom of the fixed plate 12. The fixed plate 12 is equipped with a rotating assembly that drives the second rotating shaft 21 in rotation. The rotating assembly includes a second motor 13, which is embedded within the fixed plate 12. The output end of the second motor 13 is fixedly mounted with a first rotating shaft 16. The bottom end of the first rotating shaft 16 extends below the chassis 3 and is fixedly mounted with a cleaning brush 8. A first gear 20 is fixedly mounted on the first rotating shaft 16. A second gear 23 is fixedly mounted on the second rotating shaft 21, and the second gear 23 meshes with the first gear 20.

[0029] A first connecting shaft 22 is fixedly provided at the bottom of the second gear 23 . A crank 15 is rotatably provided on the first connecting shaft 22 . A second connecting shaft 26 is rotatably provided at the other end of the crank 15 . The second connecting shaft 26 is fixedly connected to the second slider 25 .

[0030] The working principle of the wall-climbing robot for ship cleaning provided by the utility model is as follows:

[0031] First, the robot is placed in the cleaning area. At this time, the permanent magnet block 27 will attract the robot to the ship, and the anti-slip strip 28 can prevent the robot from slipping during the cleaning process. Then the camera 2 can observe the road conditions.

[0032] The first motor 11 is controlled to drive the driving wheel 9 to rotate, and the driving wheel 9 drives the chassis 3 to move. The third motor 14 is controlled to drive the steering seat 5 to rotate, and the steering seat 5 drives the guide wheel 4 to rotate, thereby achieving the purpose of adjusting the robot's travel direction.

[0033] During the robot's walking and cleaning process, the second motor 13 is activated, which drives the first rotating shaft 16 to rotate. The first rotating shaft 16 also drives the first gear 20 and the cleaning brush 8 to rotate. The first gear 20 drives the second gear 23 to rotate, which in turn drives the first connecting shaft 22 to rotate about the central axis of the second rotating shaft 21. The first connecting shaft 22 then drives the crank 15 to rotate. The crank 15, via the second connecting shaft 26, drives the second slider 25 to move back and forth along the first chute 17. The second slider 25 then drives the fixed housing 7 to move back and forth, which in turn drives the cleaning shovel 6 to move back and forth, thereby removing stubborn impurities from the surface of the ship and improving the cleaning effect of the cleaning shovel 6. This prevents the robot from having to move back and forth as a whole, making it easier to operate when cleaning stubborn stains and improving cleaning efficiency.

[0034] Since the cleaning shovel 6 is V-shaped, the impurities removed will be pushed to the sides of the chassis 3 along the cleaning shovel 6, preventing more impurities from adhering to the driving wheel 9, thereby affecting the rotation of the driving wheel 9. During this process, the spring 24 ensures that the cleaning shovel 6 is always in contact with the surface of the ship. At the same time, the cleaning brush 8 will clean the area removed by the cleaning shovel 6 again, further improving the cleaning effect.

[0035] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall-climbing robot for ship cleaning, comprising a body (1), characterized in that: A chassis (3) is fixedly provided at the bottom of the machine body (1), a driving assembly for driving the chassis (3) to climb the wall is provided, a first sliding groove (17) is provided on the chassis (3), a second sliding block (25) is slidably provided in the first sliding groove (17), a fixed shell (7) is fixedly provided on the second sliding block (25), a cleaning shovel (6) is slidably provided in the fixed shell (7), a spring (24) is fixedly provided between the cleaning shovel (6) and the fixed shell (7), and a power assembly for driving the second sliding block (25) to move back and forth is provided on the chassis (3).

2. The wall-climbing robot for ship cleaning according to claim 1, characterized in that: The power assembly comprises a second rotating shaft (21), a fixed plate (12) is fixedly provided in the chassis (3), the second rotating shaft (21) is rotatably provided on the fixed plate (12), and a rotating assembly for driving the second rotating shaft (21) to rotate is provided on the fixed plate (12); a second gear (23) is fixedly provided on the second rotating shaft (21), a first connecting shaft (22) is fixedly provided on the second gear (23), a crank (15) is rotatably provided on the first connecting shaft (22), a second connecting shaft (26) is rotatably provided on the other end of the crank (15), and the second connecting shaft (26) is fixedly connected to the second slider (25).

3. The wall-climbing robot for ship cleaning according to claim 2, characterized in that: The rotating assembly includes a second motor (13), the second motor (13) is fixedly arranged on the fixed plate (12), a first rotating shaft (16) is fixedly arranged on the output end of the second motor (13), a first gear (20) is fixedly arranged on the first rotating shaft (16), and the first gear (20) is meshed with the second gear (23).

4. The wall-climbing robot for ship cleaning according to claim 3, characterized in that: The first rotating shaft (16) extends to the bottom of the chassis (3) and is fixedly provided with a cleaning brush (8).

5. The wall-climbing robot for ship cleaning according to claim 1, characterized in that: The driving assembly comprises two fixed seats (10) and two steering seats (5), the two fixed seats (10) being fixedly arranged at the bottom of the chassis (3), the two fixed seats (10) being rotatably provided with a driving wheel (9), the two fixed seats (10) being fixedly provided with a first motor (11), the first motor (11) being fixedly connected to the driving wheel (9), the two steering seats (5) being rotatably arranged at the bottom of the chassis (3), the two steering seats (5) being rotatably provided with a guide wheel (4), two third motors (14) being fixedly arranged on the chassis (3), the output ends of the two third motors (14) being respectively fixedly connected to the corresponding steering seats (5); and a plurality of permanent magnet blocks (27) being respectively fixedly provided on the peripheries of the driving wheel (9) and the guide wheel (4).

6. The wall-climbing robot for ship cleaning according to claim 5, characterized in that: The plurality of permanent magnet blocks (27) are arranged in a circumferential array, and an anti-slip strip (28) is fixedly provided between two adjacent permanent magnet blocks (27).

7. The wall-climbing robot for ship cleaning according to claim 1, characterized in that: A second sliding groove (18) is symmetrically provided on the chassis (3), a first sliding block (19) is slidably provided in the second sliding groove (18), and the first sliding block (19) is fixedly connected to the fixed shell (7).

8. The wall-climbing robot for ship cleaning according to claim 1, characterized in that: A camera (2) is symmetrically fixedly provided on one side of the machine body (1).

Images