Electromagnetic foot hull cleaning robot

Abstract

The utility model discloses an electromagnetic foot hull cleaning robot which comprises a robot body, an electromagnetic foot assembly and an image recognition cleaning assembly. The robot body is of a polygonal structure, the side wall of the robot body is rotationally connected with a mechanical arm, the mechanical arm is rotationally connected with an electromagnetic foot assembly, the electromagnetic foot assembly is of an arc-shaped structure, an electromagnet is arranged on the adsorption face of the electromagnetic foot assembly, and multiple circles of electromagnetic contacts are arranged around the electromagnetic foot assembly. A motor is fixedly connected to the robot body, an adjusting arm is rotatably connected to the motor, a connector is rotatably connected to the adjusting arm, a connecting frame is connected to the connector, the connecting frame is rotatably connected with an image recognition cleaning assembly, and a controller is arranged on the abdomen of the robot body. Compared with the prior art, the device has the advantages that the device can be conveniently adjusted, narrow positions which are not easy to clean can be conveniently cleaned, and the structure is stable through the six additionally-arranged electromagnetic feet.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of cleaning robots, and specifically is an electromagnetic foot ship body cleaning robot. BACKGROUND

[0002] With the development of China's marine industry, the demand for ship cleaning is increasing. The traditional ship cleaning technology needs to consume a lot of manpower, material resources and time, which forms a great progress resistance factor for China's marine industry and marine military in the long run, so a new type of ship barnacle cleaning equipment is urgently needed in China. At present, the International Maritime Organization (IMO) is accelerating the formulation of ship bio-invasion standards. It can be predicted that in the future, ship hull cleaning will become a part of legal inspection. The ship cleaning requirements and frequency will inevitably increase, and the demand for cost saving and environmental protection will continue to develop various types of underwater ship cleaning technology.

[0003] The existing cleaning method is that the onshore monitoring platform establishes communication with the robot through a umbilical cable or a wireless local area network. The robot obtains the robot body pose, underwater operation environment and biological attachment condition on the ship body surface through a sensing system and feeds back to the onshore monitoring platform in real time. The operator or the robot control system adjusts the related parameters of the cleaning unit and the cleaning path of the robot according to the feedback information, so as to complete the ship body cleaning operation. UTILITY MODEL CONTENTS

[0004] The technical problem to be solved by the utility model is to overcome the above technical defects, and provide a cleaning robot which can be conveniently adjusted, conveniently cleaned in narrow and small positions and stably cleaned through six electromagnetic foot structures.

[0005] In order to solve the above problems, the technical scheme of the utility model is that the electromagnetic foot ship body cleaning robot comprises a robot body, an electromagnetic foot assembly and an image recognition cleaning assembly.

[0006] The robot body is a polygonal structure, a mechanical arm is rotationally connected to the side wall, the mechanical arm is rotationally connected with the electromagnetic foot assembly, the electromagnetic foot assembly is an arc structure, the adsorption surface of the electromagnetic foot assembly contains an electromagnet, a plurality of electromagnetic contacts are arranged around the electromagnetic foot assembly, a motor is fixedly connected to the robot body, an adjusting arm is rotationally connected to the motor, a connecting head is rotationally connected to the adjusting arm, a connecting frame is connected to the connecting head, the connecting frame is rotationally connected with the image recognition cleaning assembly, and a controller is arranged on the abdomen of the robot body.

[0007] Further, the mechanical arm and the electromagnetic foot assembly are connected through a driven spherical joint for multi-directional adjustment angle, and are matched with a sensor system to realize a joint self-locking function and calibrate the adsorption position.

[0008] Further, the adjusting arm is a square structure, both sides of which are provided with limiting holes, and the adjusting arm further comprises a telescopic arm which is movably inserted with the adjusting arm and connected with the limiting holes, thereby being convenient for fixing.

[0009] Further, the image recognition cleaning assembly comprises a small camera, a milling blade is connected to a side wall of the small camera, and a small motor is connected to the milling blade and used for driving,

[0010] Further, the bottom of the robot body is provided with a cleaning device, the cleaning device comprises a second milling blade, a sensor and a driving motor are connected to the second milling blade, and the sensor is connected with a controller in the robot body.

[0011] The utility model has the advantages that compared with the prior art, the utility model has the advantages that:

[0012] (1) the utility model sets up electromagnetic foot control system and carries out ship surface adsorption action through electromagnetic adsorption, and the electromagnetic foot adsorption surface is dominated by main electromagnet, a plurality of small electromagnetic contacts are surrounded, the ship surface with small radian can be adapted, the active ball joint is used on the electromagnetic adsorption upper side to carry out multidirectional angle adjustment, and the joint self-locking function is realized by matching the sensor system, the adsorption position is calibrated, and the robot can cope with various paths.

[0013] (2) in addition, the utility model utilizes image recognition visual system and carries out image recognition algorithm on the path through small camera, scans and identifies the object to be cleaned, and the image is transmitted to the ship operator, the underwater environment can be controlled artificially, and the underwater searchlight is additionally installed on the robot, thereby facilitating the robot to work. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is the three-dimensional view of the electromagnetic foot ship body cleaning robot of the utility model Figure One .

[0015] Figure 2 is the three-dimensional view of the electromagnetic foot ship body cleaning robot of the utility model Figure Two .

[0016] As shown in the figure: 1, robot body; 2, mechanical arm; 3, motor; 4, adjusting arm; 5, connecting head; 6, connecting frame. DETAILED DESCRIPTION

[0017] The specific embodiment of the utility model will be further illustrated in combination with the drawings.

[0018] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0019] To make the content of this utility model easier to understand, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0020] like Figures 1-2 As shown, the electromagnetic foot hull cleaning robot includes a robot body 1, an electromagnetic foot assembly, and an image recognition cleaning assembly. The robot body 1 has a polygonal structure, with a mechanical arm 2 rotatably connected to its side wall. The mechanical arm 2 is rotatably connected to the electromagnetic foot assembly, which has an arc-shaped structure. The electromagnetic foot assembly has an electromagnet on its adsorption surface, and multiple electromagnetic contacts are arranged around it. A motor 3 is fixedly connected to the robot body 1, and an adjusting arm 4 is rotatably connected to the motor 3. The adjusting arm 4 has a square structure with limiting holes on both sides. The adjusting arm 4 also includes a telescopic arm, which is movably inserted into the adjusting arm 4 and connected to the limiting holes for easy fixation. A connector 5 is rotatably connected to the adjusting arm 4, and a connecting frame 6 is connected to the connector 5. The connecting frame 6 is rotatably connected to the image recognition cleaning assembly. A controller is located on the abdomen of the robot body 1.

[0021] In practical use, the robotic arm 2 and the electromagnetic foot assembly use active ball joints for multi-directional angle adjustment, and are equipped with a sensor system to achieve joint self-locking function, calibrate the adsorption position, and use electromagnetic adsorption to perform adsorption action on the hull surface. The electromagnetic foot adsorption surface is dominated by the main electromagnet, surrounded by multiple rings of small electromagnetic contacts, which can adapt to the hull surface with a small degree of curvature. Active ball joints are used above the electromagnetic adsorption for multi-directional angle adjustment, and are equipped with a sensor system to achieve joint self-locking function, calibrate the adsorption position, and enable the robot to cope with various paths.

[0022] The image recognition cleaning component includes a small camera device. A milling cutter is attached to the side wall of the small camera device, and a small motor is connected to the milling cutter for driving. Specifically, the small camera device uses an image recognition algorithm to detect the path, scan and identify the objects to be cleaned, and transmit the image to the operator on board. The image can be used to monitor the robot's automatic functions and also to manually operate the robot. The camera is mounted on a multi-jointed, multi-degree-of-freedom robotic arm, allowing for manual control and detection of the underwater environment. An underwater searchlight is also installed on the robot to facilitate its operation.

[0023] In addition, the bottom of the robot body 1 is provided with a cleaning device, the cleaning device comprises a second milling blade, a sensor and a driving motor are connected on the second milling blade, and the sensor is connected with a controller in the robot body 1.

[0024] The above describes the utility model and its implementation mode, and this description is not limited, and the embodiment shown in the drawings is only one of the utility model, and the actual structure is not limited. In general, if the ordinary skilled person in the art is inspired, without departing from the utility model, without creative design, similar structure mode and embodiment of the technical scheme, which should belong to the protection scope of the utility model.

Claims

1. An electromagnetic foot ship hull cleaning robot, characterized by: Including robot body (1), electromagnetic foot assembly and image recognition cleaning assembly; The robot body (1) is a polygonal structure, the side wall of which is rotationally connected with a mechanical arm (2), the mechanical arm (2) is rotationally connected with the electromagnetic foot assembly, the electromagnetic foot assembly is an arc-shaped structure, the adsorption surface of the electromagnetic foot assembly contains an electromagnet, a plurality of electromagnetic contacts are arranged around the electromagnetic foot assembly, a motor (3) is fixedly connected to the robot body (1), an adjusting arm (4) is rotationally connected to the motor (3), a connecting head (5) is rotationally connected to the adjusting arm (4), a connecting frame (6) is connected to the connecting head (5), the connecting frame (6) is rotationally connected with the image recognition cleaning assembly, and the belly of the robot body (1) is provided with a controller.

2. The electromagnetic hull cleaning robot of claim 1, wherein: The mechanical arm (2) and the electromagnetic foot assembly are connected through a driving spherical joint to adjust the angle in multiple directions, and are matched with a sensor system to realize a self-locking function and calibrate the adsorption position.

3. The electromagnetic hull cleaning robot of claim 1, wherein: The adjusting arm (4) is a square structure, and limiting holes are arranged on the two sides of the adjusting arm (4), the adjusting arm (4) further comprises a telescopic arm, the telescopic arm is movably inserted into the adjusting arm (4) and connected with the limiting holes, and the telescopic arm is convenient to fix.

4. The electromagnetic hull cleaning robot of claim 1, wherein: The image recognition cleaning assembly comprises a small camera, a milling blade is connected to the side wall of the small camera, and a small motor is connected to the milling blade for driving.

5. The electromagnetic hull cleaning robot of claim 1, wherein: A cleaning device is arranged at the bottom of the robot body (1), the cleaning device comprises a second milling blade, a sensor and a driving motor are connected to the second milling blade, and the sensor is connected with the controller in the robot body (1).

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