Automatic operation unmanned cabin cleaning machine

Abstract

The utility model discloses an automatic operation unmanned cabin cleaning machine which is used for automatic operation in a cabin and comprises a vehicle body, an automatic control mechanism, an obstacle avoidance mechanism and a cleaning assembly. The automatic control mechanism is arranged on the vehicle body and is used for controlling the vehicle body to automatically work in the cabin; the cleaning assembly comprises a base mechanism, a mechanical arm mechanism and a cleaning mechanism. The base mechanism is fixed to the vehicle body and used for rotating the mechanical arm mechanism, the mechanical arm mechanism is arranged on the base mechanism, the output end of the mechanical arm mechanism is connected with the cleaning mechanism and used for adjusting the height and angle of the cleaning mechanism, and the cleaning mechanism is used for cleaning accumulated materials in a cabin. Continuous accumulation of residual coal at the high position of the cabin keel and the risk of manual residual coal cleaning can be avoided, the cabin cleaning efficiency is improved, and the cleaning time is shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cleaning machine, especially relates to an automatic operation unmanned cleaning machine. BACKGROUND

[0002] The cleaning machine is a special mechanical device for concentrating the residual cargo in the dead angle of the ship cabin to the bottom of the hatch for further unloading operation when using a grab bucket to unload the dry bulk cargo. When the cleaning machine cleans the ship cabin, the traditional cleaning machine shovel can only clean the residual coal at the bottom of the ship cabin, and cannot effectively clean the high and bottom end of the ship cabin keel and the corner of the bulkhead, resulting in residual coal in the high place of the ship cabin keel that cannot be cleaned, and manual cleaning is required. SUMMARY

[0003] According to the utility model embodiment, an automatic operation unmanned cleaning machine is provided for automatic operation in the ship cabin, comprising: a vehicle body, an automatic control mechanism, an obstacle avoidance mechanism and a cleaning assembly.

[0004] The automatic control mechanism is arranged on the vehicle body, and is used for controlling the automatic operation of the vehicle body in the ship cabin.

[0005] The obstacle avoidance mechanism is arranged on the vehicle body, and is used for avoiding collision accidents of the cleaning machine.

[0006] The cleaning assembly comprises a base mechanism, a mechanical arm mechanism and a cleaning mechanism.

[0007] The base mechanism is fixed on the vehicle body, and is used for rotating the mechanical arm mechanism. The output end of the mechanical arm mechanism is connected with the cleaning mechanism, and is used for adjusting the height and angle of the cleaning mechanism. The cleaning mechanism is used for cleaning the accumulated material in the ship cabin.

[0008] Further, the base mechanism comprises a mounting seat and a rotating mechanism.

[0009] The mounting seat is fixed on one side of the tail of the vehicle body, and the rotating mechanism is arranged on the mounting seat. The rotating mechanism is hinged with the mechanical arm mechanism, and is used for driving the mechanical arm mechanism to rotate.

[0010] Further, the mechanical arm mechanism comprises a first arm rod, a second arm rod, a first driving member and a second driving member.

[0011] The first end of the first arm lever is hinged to the base mechanism, the second end is hinged to the first end of the second arm lever, the first driving member is hinged to the base mechanism, the output end of the first driving member is rotationally connected to the first arm lever, the second driving member is hinged to the second arm lever, the second driving member is used to drive the second arm lever to rotate on the first arm lever, and the second end of the second driving member is connected to the cleaning mechanism.

[0012] Further, the second end of the first arm lever is provided with a first extension, the first end of the second arm lever is provided with a second extension, and the end of the first extension is rotationally connected to the end of the second extension.

[0013] Further, the mechanical arm mechanism further comprises a first transmission lever and a second transmission lever.

[0014] The first end of the first transmission lever is rotationally connected to the first arm lever, the second end is rotationally connected to the first end of the second transmission lever, the second end of the second transmission lever is rotationally connected to the second arm lever, and the output end of the second driving member is rotationally connected to the connection between the second end of the first transmission lever and the first end of the second transmission lever.

[0015] Further, the cleaning mechanism comprises a cleaning driving member, a cleaning plate and a cleaning shovel.

[0016] The cleaning driving member is hinged to the mechanical arm mechanism, the cleaning plate is rotationally connected to the end of the mechanical arm mechanism, the cleaning shovel is arranged on the cleaning plate, and the cleaning driving member is used to drive the cleaning plate to rotate on the mechanical arm mechanism.

[0017] Further, the cleaning mechanism further comprises a first connecting rod and a second connecting rod.

[0018] The first end of the first connecting rod is rotationally connected to the mechanical arm mechanism, the second end is rotationally connected to the first end of the second connecting rod, the second end of the second connecting rod is hinged to the cleaning plate, and the output end of the cleaning driving member is rotationally connected to the connection between the second end of the first connecting rod and the first end of the second connecting rod.

[0019] Further, the cleaning mechanism comprises a camera.

[0020] The camera is arranged on the mechanical arm mechanism, and the camera is used to shoot the cleaning position of the cleaning mechanism.

[0021] Further, the automatic control mechanism comprises a modeling radar and a control system.

[0022] The modeling radar is arranged on the top of the vehicle body, the modeling radar is used to establish a 3D model in the cabin, the control system is arranged in the vehicle body, and the control system controls the vehicle body to automatically work according to the 3D model established by the modeling radar.

[0023] Further, the obstacle avoidance mechanism comprises a grab bucket radar and a collision avoidance radar.

[0024] The grab bucket radar is arranged on the top of the vehicle body, and the output direction of the grab bucket radar is upward, and the grab bucket radar is used for detecting the grab bucket of the ship unloader.

[0025] According to the automatic operation unmanned cleaning machine, the automatic control mechanism can control the automatic operation of the vehicle body, the vehicle body is moved to a position to be cleaned, the cleaning assembly is controlled through the automatic control mechanism, the base mechanism rotates the mechanical arm mechanism to the position of the residual coal accumulated at the high position and the bottom end of the ship cabin keel and the corner of the bulkhead, the cleaning mechanism is moved through the movement of the mechanical arm mechanism, the cleaning mechanism is moved to the accumulated residual coal, the accumulated residual coal is cleaned through the cleaning mechanism, the continuous accumulation of residual coal at the high position of the ship cabin keel is avoided, the risk of manual cleaning of residual coal is avoided, the cleaning efficiency of the ship cabin is improved, and the cleaning time is reduced.

[0026] It is to be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further explanation of the subject technology claimed. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural view of the automatic operation unmanned cleaning machine according to the embodiment of the utility model;

[0028] Figure 2 It is a front view of the automatic operation unmanned cleaning machine according to the embodiment of the utility model;

[0029] Figure 3 It is a structural view of the cleaning assembly of the automatic operation unmanned cleaning machine according to the embodiment of the utility model;

[0030] Figure 4 It is a front view of the cleaning assembly of the automatic operation unmanned cleaning machine according to the embodiment of the utility model.

[0031] In the drawings, 1 is a vehicle body, 2 is a modeling radar, 3 is a grab bucket radar, 4 is an anti-collision radar, 5 is a cleaning assembly, 6 is a base mechanism, 61 is a mounting seat, 62 is a rotating mechanism, 7 is a mechanical arm mechanism, 71 is a first arm rod, 72 is a second arm rod, 73 is a first driving piece, 74 is a second driving piece, 75 is a first transmission rod, 76 is a second transmission rod, 8 is a cleaning mechanism, 81 is a cleaning driving piece, 82 is a cleaning plate, 83 is a cleaning shovel, 84 is a first connecting rod, 85 is a second connecting rod, and 86 is a camera. DETAILED DESCRIPTION

[0032] The preferred embodiments of the utility model will be described in detail below with reference to the drawings, and the utility model will be further described.

[0033] Firstly, the preferred embodiments of the utility model will be described in detail below with reference to the drawings, and the utility model will be further described. Figures 1-4This invention describes an automated unmanned cabin cleaning machine according to an embodiment of the present invention, used for automatically cleaning residual coal accumulated at the top and bottom of the keel and the corners of the cabin walls inside the cabin.

[0034] like Figures 1-4 As shown in the figure, an automatic unmanned cabin cleaning machine according to an embodiment of the present invention is used for automatic operation in the cabin, and includes: vehicle body 1, automatic control mechanism, obstacle avoidance mechanism and cleaning component 5;

[0035] The automatic control mechanism is located on the vehicle body 1 and is used to control the vehicle body 1 to perform automatic operations inside the ship's cabin.

[0036] The obstacle avoidance mechanism is located on vehicle body 1 and is used to prevent the cleaning machine from colliding with other vehicles.

[0037] Cleaning component 5 includes: a base mechanism 6, a robotic arm mechanism 7, and a cleaning mechanism 8;

[0038] The base mechanism 6 is fixed on the vehicle body 1. The base mechanism 6 is used to rotate the robotic arm mechanism 7. The robotic arm mechanism 7 is set on the base mechanism 6. The output end of the robotic arm mechanism 7 is connected to the cleaning mechanism 8, which is used to adjust the height and angle of the cleaning mechanism 8. The cleaning mechanism 8 is used to clean the accumulated material in the cabin.

[0039] The automatic control mechanism of this application can control the vehicle body 1 to operate automatically, move the vehicle body 1 to the position to be cleaned, control the cleaning component 5 through the automatic control mechanism, and rotate the mechanical arm mechanism 7 to the position of the residual coal piled up at the high and low ends of the keel and the corners of the bulkhead through the base mechanism 6. The mechanical arm mechanism 7 moves the cleaning mechanism 8 to the piled residual coal, and cleans the piled residual coal through the cleaning mechanism 8, avoiding the continuous accumulation of residual coal at the high end of the keel and the risk of manual cleaning of residual coal, improving the cleaning efficiency of the keel and reducing the cleaning time.

[0040] like Figures 3-4 As shown, the base mechanism 6 includes: a mounting base 61 and a rotating mechanism 62;

[0041] Mounting base 61 is fixed to one side of the rear of vehicle body 1. Rotating mechanism 62 is mounted on mounting base 61 and is hinged to robotic arm mechanism 7. Rotating mechanism 62 is used to drive robotic arm mechanism 7 to rotate.

[0042] The automatic control mechanism can control the rotating mechanism 62 to drive the robotic arm mechanism 7 to rotate, and turn the robotic arm mechanism 7 to the position to be cleaned. The rotating mechanism 62 in this embodiment is a common rotating device in the prior art, as long as it can drive the robotic arm mechanism 7 to rotate.

[0043] like Figures 3-4As shown, the mechanical arm mechanism 7 comprises: a first arm rod 71, a second arm rod 72, a first driving member 73 and a second driving member 74.

[0044] The first end of the first arm rod 71 is hinged with the base mechanism 6, the second end is hinged with the first end of the second arm rod 72, the first driving member 73 is hinged on the base mechanism 6, the output end of the first driving member 73 is rotationally connected with the first arm rod 71, the second driving member 74 is hinged on the second arm rod 72, the second driving member 74 is used to drive the second arm rod 72 to rotate on the first arm rod 71, and the second end of the second driving member 74 is connected with the cleaning mechanism 8.

[0045] The first driving member 73 drives the first arm rod 71 to rotate on the base mechanism 6, the height of the second arm rod 72 can be adjusted, the second arm rod 72 is driven by the second driving member 74 to rotate on the first arm rod 71, the position of the cleaning mechanism 8 on the second arm rod 72 can be adjusted, and the cleaning mechanism 8 is moved to the position to be cleaned.

[0046] As shown in Figures 3-4 The second end of the first arm rod 71 is provided with a first extension, the first end of the second arm rod 72 is provided with a second extension, and the end of the first extension is rotationally connected with the end of the second extension.

[0047] The first arm rod 71 and the second arm rod 72 are parallel through the first extension and the second extension, there is a certain gap between the first arm rod 71 and the second arm rod 72, and collision between the second arm rod 72 and the first driving member 73 and the second driving member 74 is avoided to cause damage.

[0048] As shown in Figures 3-4 The mechanical arm mechanism 7 further comprises: a first transmission rod 75 and a second transmission rod 76.

[0049] The first end of the first transmission rod 75 is rotationally connected with the first arm rod 71, the second end is rotationally connected with the first end of the second transmission rod 76, the second end of the second transmission rod 76 is rotationally connected with the second arm rod 72, and the output end of the second driving member 74 is rotationally connected with the connection between the second end of the first transmission rod 75 and the first end of the second transmission rod 76.

[0050] The first arm rod 71 and the second arm rod 72 are at most in the parallel state through the transmission of the first transmission rod 75 and the second transmission rod 76 as the transmission of the second driving member 74, and collision between the first arm rod 71 and the second arm rod 72 is avoided.

[0051] As shown in Figures 3-4 The cleaning mechanism 8 comprises: a cleaning driving member 81, a cleaning plate 82 and a cleaning shovel 83.

[0052] The cleaning driving member 81 is hinged on the mechanical arm mechanism 7, the cleaning plate 82 is rotatably connected with the end of the mechanical arm mechanism 7, and the cleaning shovel 83 is arranged on the cleaning plate 82. The cleaning driving member 81 is used to drive the cleaning plate 82 to rotate on the mechanical arm mechanism 7.

[0053] The cleaning mechanism 8 further comprises a first connecting rod 84 and a second connecting rod 85.

[0054] The first end of the first connecting rod 84 is rotatably connected with the mechanical arm mechanism 7, the second end is rotatably connected with the first end of the second connecting rod 85, the second end of the second connecting rod 85 is hinged with the cleaning plate 82, and the output end of the cleaning driving member 81 is rotatably connected with the connection position of the second end of the first connecting rod 84 and the first end of the second connecting rod 85.

[0055] The cleaning driving member 81 drives the cleaning plate 82 to rotate on the second arm rod 72 through the transmission of the first connecting rod 84 and the second connecting rod 85. During the rotation of the cleaning plate 82, the cleaning shovel 83 can clean the accumulated residual coal.

[0056] As shown in Figures 3-4 , the cleaning mechanism 8 comprises a camera 86.

[0057] The camera 86 is arranged on the mechanical arm mechanism 7, and the camera 86 is used to shoot the cleaning position of the cleaning mechanism 8.

[0058] In this embodiment, the cleaning position of the cleaning mechanism 8 can be shot by the camera 86, and the automatic control mechanism can judge the cleaning condition of the position according to the shot picture. When there is no residual coal in the shot picture, the next residual coal position is cleaned.

[0059] As shown in Figures 1-2 , the automatic control mechanism comprises a modeling radar 2 and a control system.

[0060] The modeling radar 2 is arranged on the top of the vehicle body 1, and the modeling radar 2 is used to establish a 3D model in the ship cabin. The control system is arranged in the vehicle body 1, and the control system controls the vehicle body 1 to automatically work according to the 3D model established by the modeling radar 2.

[0061] The obstacle avoidance mechanism comprises a grab bucket radar 3 and a collision avoidance radar 4.

[0062] The grab bucket radar 3 is arranged on the top of the vehicle body 1, and the output direction of the grab bucket radar 3 is upward. The grab bucket radar 3 is used to detect the grab bucket of the ship unloader. The front end and the rear end of the vehicle body 1 are each provided with a collision avoidance radar 4, and the collision avoidance radar 4 is used to avoid collision of the vehicle body 1.

[0063] The modeling radar 2 can establish a 3D model of the ship cabin, the control system can automatically generate a technical operation path according to the 3D model, and control the vehicle body 1 to operate according to the path, and the grabber radar 3 and the anti-collision radar 4 will send a signal to the control system when detecting that a collision will occur, and the control system will stop the vehicle body 1 in an emergency after receiving the signal.

[0064] The above, with reference to Figures 1-4 An automatic operation unmanned cabin cleaning machine according to an embodiment of the present application is described, the automatic control mechanism of the present application can control the vehicle body 1 to automatically operate, move the vehicle body 1 to a position to be cleaned, control the cleaning assembly 5 through the automatic control mechanism, and the base mechanism 6 rotates the mechanical arm mechanism 7 to a high position of the ship cabin keel and a position where residual coal is accumulated at the corner of the bulkhead, the mechanical arm mechanism 7 moves the cleaning mechanism 8, moves the cleaning mechanism 8 to the accumulated residual coal, and cleans the accumulated residual coal through the cleaning mechanism 8, avoids continuous accumulation of residual coal at a high position of the ship cabin keel, and the risk of manual cleaning of residual coal, improves the cleaning efficiency of the ship cabin, and reduces the cleaning time.

[0065] It should be noted that in the present specification, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such processes, methods, articles or devices. Without more limitations, the elements defined by the statement "comprise" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0066] Although the content of the present application has been described in detail by the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation of the present application. After reading the above content, various modifications and alternatives of the present application will be obvious to those skilled in the art. Therefore, the protection scope of the present application should be defined by the appended claims.

Claims

1. An automatic operation unmanned stripping machine for automatic operation in a ship's hold, characterized by, The utility model relates to a kind of automatic cleaning device for ship cabin, including: Vehicle body, automatic control mechanism, barrier mechanism and cleaning assembly; The automatic control mechanism is arranged on the vehicle body, and the automatic control mechanism is used to control the automatic operation of the vehicle body in the cabin; The barrier mechanism is arranged on the vehicle body, and the barrier mechanism is used to avoid collision accident of the cleaning machine; The cleaning assembly includes base mechanism, mechanical arm mechanism and cleaning mechanism; The base mechanism is fixed on the vehicle body, and the base mechanism is used to rotate the mechanical arm mechanism, the mechanical arm mechanism is arranged on the base mechanism, the output end of the mechanical arm mechanism is connected with the cleaning mechanism, for adjusting the height and angle of the cleaning mechanism, and the cleaning mechanism is used to clean the accumulated material in the cabin.

2. The automatic operation unmanned stripping machine according to claim 1, wherein, The base mechanism includes mounting seat and rotating mechanism; The mounting seat is fixed on one side of the tail of the vehicle body, and the rotating mechanism is arranged on the mounting seat, the rotating mechanism is hinged with the mechanical arm mechanism, and the rotating mechanism is used to drive the mechanical arm mechanism to rotate.

3. The automatic operation unmanned stripping machine according to claim 1, wherein, The mechanical arm mechanism includes first arm rod, second arm rod, first driving part and second driving part; The first end of the first arm rod is hinged with the base mechanism, the second end is hinged with the first end of the second arm rod, the first driving part is hinged on the base mechanism, the output end of the first driving part is rotatably connected with the first arm rod, the second driving part is hinged on the second arm rod, the second driving part is used to drive the second arm rod to rotate on the first arm rod, and the second end of the second driving part is connected with the cleaning mechanism.

4. The automatic operation unmanned stripping machine according to claim 3, wherein, The second end of the first arm rod is provided with a first extension, and the first end of the second arm rod is provided with a second extension, and the end of the first extension is rotatably connected with the end of the second extension.

5. The automatic operation unmanned stripping machine according to claim 3, wherein, The mechanical arm mechanism further includes first transmission rod and second transmission rod; The first end of the first transmission rod is rotatably connected with the first arm rod, the second end is rotatably connected with the first end of the second transmission rod, the second end of the second transmission rod is rotatably connected with the second arm rod, and the output end of the second driving part is rotatably connected with the connection between the second end of the first transmission rod and the first end of the second transmission rod.

6. The automatic operation unmanned stripping machine according to claim 1, wherein, The cleaning mechanism includes cleaning driving part, cleaning plate and cleaning shovel; The cleaning driving part is hinged on the mechanical arm mechanism, the cleaning plate is rotatably connected with the tail end of the mechanical arm mechanism, the cleaning shovel is arranged on the cleaning plate, and the cleaning driving part is used to drive the cleaning plate to rotate on the mechanical arm mechanism.

7. An automatic job unmanned stripping machine according to claim 6, wherein The cleaning mechanism further includes first connecting rod and second connecting rod; The first end of the first connecting rod is rotatably connected with the mechanical arm mechanism, the second end is rotatably connected with the first end of the second connecting rod, the second end of the second connecting rod is hinged with the cleaning plate, and the output end of the cleaning driving part is rotatably connected with the connection between the second end of the first connecting rod and the first end of the second connecting rod.

8. The automatic operation unmanned stripping machine according to claim 1, wherein, The cleaning mechanism includes camera; The camera is arranged on the mechanical arm mechanism, and the camera is used to shoot the cleaning position of the cleaning mechanism.

9. The automatic operation unmanned stripping machine according to claim 1, wherein, The automatic control mechanism includes modeling radar and control system; The modeling radar is arranged on the top of the vehicle body, and the modeling radar is used to establish 3D model in the cabin, the control system is arranged in the vehicle body, and the control system controls the automatic operation of the vehicle body according to the 3D model established by the modeling radar.

10. The automatic operation unmanned stripping machine according to claim 1, wherein, The obstacle avoidance mechanism comprises a grab bucket radar and a collision avoidance radar. The grab bucket radar is arranged on the top of the vehicle body, the output direction of the grab bucket radar is upward, the grab bucket radar is used for detecting the grab bucket of the ship unloader, and the collision avoidance radars are arranged on the front end and the rear end of the vehicle body, and the collision avoidance radars are used for avoiding collision of the vehicle body.

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