Cleaning robot for interior of ship body pipeline

Abstract

The utility model discloses a ship body pipeline interior cleaning robot, and relates to the field of ship body pipeline inner wall cleaning, the ship body pipeline interior cleaning robot comprises a spiral driving module, a cleaning device, a connecting module, a conversion support module, a water and gas distribution device and a power support module, the left end of the spiral driving module is connected with the cleaning device; the right end of the power supporting module is connected with a connecting module, the two ends of the conversion supporting module are connected with the connecting modules, a water and gas distribution device is installed at the center axis of the conversion supporting module, and the left side of the power supporting module is rotationally connected with the connecting module. According to the ship body pipeline interior cleaning robot, water spraying work of the high-pressure water jet device and cleaning work of the scraper cleaning device can be carried out while the power supporting module drives the ship body pipeline interior cleaning robot to move, the pipeline cleaning cost can be reduced, and the ship body pipeline interior cleaning efficiency and effect can be improved.

Description

Technical Field

[0001] This utility model relates to the field of cleaning the inner wall of ship hull pipes, and in particular to a robot for cleaning the inside of ship hull pipes. Background Technology

[0002] Over long periods of use, ship pipelines inevitably accumulate various marine pollutants on their walls. This accumulation can lead to blockages, corrosion, cracks, and hard scale buildup, affecting the safe operation of the vessel. Microbial activity in seawater can also form biofilms on the pipeline walls, increasing impurity accumulation and causing scale and sediment buildup, making pipeline maintenance more difficult. Traditional pipeline cleaning methods require significant manpower, are labor-intensive, and have a considerable impact on the health of cleaning workers and the environment. The use of pipeline robots can effectively reduce the labor intensity of cleaning workers, lower work risks, and improve work efficiency. These internal cleaning robots not only complete the cleaning tasks and reduce pipeline cleaning costs, but also protect the environment and provide a relatively safe operating environment for the pipeline system. Therefore, there is a need for shipboard pipeline internal cleaning robots. Summary of the Invention

[0003] The purpose of this utility model is to provide a robot for cleaning the inside of ship hull pipes, so as to solve the problems of existing methods for cleaning the inner walls of ship hull pipes mentioned in the background art, which generally require a large amount of manpower and cannot guarantee that the cleaning is thorough, while also causing environmental pollution.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A robot for cleaning the interior of a ship's hull pipes includes a helical drive module 100, a cleaning device 200, a connecting module 300, a conversion support module 400, a water and air distribution device 500, and a power support module 600. The left end of the helical drive module 100 is connected to the cleaning device 200, and the right end is connected to the connecting module 300. The connecting module 300 includes a universal joint A 310 and a universal joint B 320. The right end of the universal joint A 310 is rotatably connected to the conversion support module 400. The water and air distribution device 500 is installed at the central axis of the conversion support module 400. The right end of the conversion support module 400 is connected to the universal joint B 320, and the right end of the universal joint B 320 is rotatably connected to the power support module 600.

[0006] Further, the helical drive module 100 includes a wheel axle 101, cylinder A 102, a tripod 103, a hub 104, a sleeve 105, a cylindrical roller bearing 106, a set screw 107, a nut 108, a stud 109, an air inlet C 110, and a water inlet C 111. Three sets of cylinders A 102 are evenly spaced around the tripod 103. The water inlet C 111 and the air inlet C 110 are located at the right end of the tripod 103 and are fixedly connected to the right end of the tripod 103. The water inlet C 111 and the air inlet C 110 are respectively connected to the inner cavity of the tripod 103 through a closed water passage and a closed air passage. The cylinder A 102 is fixedly connected to the tripod 103. A wheel axle 101 is fixedly connected to the center of the upper end of 102. Wheel hubs 104 are fitted at both ends of the wheel axle 101. Sleeves 105 are fitted on the wheel hubs 104. Studs 109 are fixedly connected inside the wheel hubs 104. Cylindrical roller bearings 106 are fitted on the studs 109. Nuts 108 are fixedly connected to the upper side of the cylindrical roller bearings 106. Six set screws 107 distributed around the circumference of the axis are fixedly connected to one side of the wheel hubs 104.

[0007] Furthermore, three sets of cylinders A 102 are provided, which are circumferentially distributed at equal intervals on the tripod 103. The cylinders A 102 are fixedly connected to the tripod 103, and the cylinders A are fixedly connected to the wheel axle 101.

[0008] Furthermore, the cleaning device 200 includes a high-pressure water jet device 210, a guide post 220, and a scraper cleaning device 230. The high-pressure water jet device 210 is located at the left end of the cleaning device 200, the guide post 220 is located at the right side of the high-pressure water jet device 210, and the scraper cleaning device 230 is installed on the right side of the guide post 220. The scraper cleaning device 230 is fixedly connected to the high-pressure water jet device 210 through the guide post 220.

[0009] Furthermore, the high-pressure water jet device 210 includes a nozzle body 211, an auxiliary nozzle 212, an L-shaped guide tube 213, and a main nozzle 214. The nozzle body 211 is located at one end of the guide post 220 near the high-pressure water jet device 210, and the nozzle body 211 is fixedly connected to the guide post 220. Two sets of auxiliary nozzles 212 are provided, and the auxiliary nozzles 212 are arranged tangentially along the nozzle body 211. The auxiliary nozzles 212 are fixedly connected to the nozzle body 211. The L-shaped guide tube 213 is located on the front side of the nozzle body 211, and the L-shaped guide tube 213 is fixedly connected to the nozzle body 211. The main nozzle 214 is located at the top end of the L-shaped guide tube 213, and the main nozzle 214 is connected to the nozzle body 211 through the L-shaped guide tube 213.

[0010] Furthermore, the scraper cleaning device 230 includes a bracket 231, cylinders B 232, push rods B 233, connecting plates 233, and elastic scrapers 234. The bracket 231 is located at the end of the guide post 220 away from the nozzle body 211. A threaded hole is provided in the middle of the bracket 231. The bracket 231 is fixedly connected to the guide post 220. Three sets of cylinders B 232 are installed at equal intervals around the bracket 231. The cylinders B 232 are fixedly connected to the bracket 231. Three sets of connecting plates 233 are installed on the upper part of the cylinders B 232. The connecting plates 233 are fixedly connected to the cylinders B 232. Three sets of elastic scrapers 234 are installed on the upper part of the connecting plates 233. The elastic scrapers 234 are fixedly connected to the connecting plates 233.

[0011] Further, the universal joint A 310 includes a universal joint fork A 311, a U-shaped connecting frame 312, a stepped pin A 313, a double fork A 314, a coupling A 315, and a perforated pin A 316. The universal joint fork A 311 is connected to the right side of the screw drive module 100. A through hole is provided in the middle of the universal joint fork A 310. The U-shaped connecting frame 312 is located at the right end of the universal joint fork A 311 and has four through holes around its perimeter. The stepped pin A 313 connects the universal joint fork A 311 and the U-shaped connecting frame 312 through the opposite through holes. The double fork A 314 is located to the right of the universal joint fork A 311 and has two sets of opposite through holes at both ends, each set of through holes being symmetrically arranged. One end of the double fork A 314 is connected by two stepped pins A 316. 313 passes through the opposite through holes and connects to the U-shaped connecting bracket 312. The other end is connected to the perforated pin A 316 via two stepped pins A 313 passing through the opposite through holes. The perforated pin A 316 and the coupling A 315 have the same opposite through holes. The stepped pin A 313 connects the perforated pin A 316 and the coupling A 315 through the opposite through holes. The universal joint B 320 includes a universal joint fork B 325, a stepped pin B 322, a double fork B 323, a perforated pin B 324, and a coupling B 321. The universal joint fork B 325 is located on the right side of the conversion support module 400. The universal joint fork B 325 is fixedly connected to the end of the spindle 501 away from the outlet 505. The coupling B... A through hole is provided in the middle of coupling B321. A set of opposite through holes are provided circumferentially along the coupling. The opposite through holes are symmetrically arranged. The stepped pin B322 connects coupling B321 and perforated pin B324 through the opposite through holes. The perforated pin B324 and universal joint fork B325 have the same opposite through holes. The stepped pin B322 connects perforated pin B324 and universal joint fork B325 through the opposite through holes. The double fork B323 is located to the right of universal joint fork B325. Two sets of opposite through holes are provided at both ends of the double fork B323. Each set of through holes is symmetrically arranged. The two ends of the double fork B323 are connected to two perforated pins B324 by four stepped pins B322 passing through the opposite through holes.

[0012] Further, the conversion support module 400 includes a T-shaped three-way pipe A401, a wheel frame A402, a cylinder C 403, a positioning frame A404, a base A405, a micro pneumatic motor A406, a coupling A 407, a coupling B 408, a pulley A 409, a synchronous belt A 410, a bearing A 411, a gasket A412, a water inlet A413, an air inlet A414, a roller A415, and an air supply pipe A416. A through hole is provided at the central axis of the base A405. Three sets of cylinders C 403 are arranged circumferentially at equal intervals on the base A405. The wheel frame A402 is located on the upper part of the cylinders C 403, and a through hole is provided at the center of the wheel frame A402. The coupling B 408 connects the wheel frame A402 and two pulleys A409 through the through hole. The cylinder C... The upper end of cylinder C403 is fixedly connected to wheel frame A402. The three sets of cylinders C403 are respectively connected to the base A405 through three positioning frames A404. The air port A414 and water port A413 are located on the rear side of the base A405. The air supply pipe A416 is set on the base A405, located at the center of the positioning frame A404. The lower end of the T-shaped three-way pipe A401 is connected to the air supply pipe A416, and the upper end extends horizontally. The miniature pneumatic motor A406 is located at the upper center of the wheel frame A402. Three sets of pulleys A409 are set, each set with eight pulleys A409. The two ends of the miniature pneumatic motor A406 are connected to two pulleys A409 through coupling shaft A407. The two ends of the wheel frame A402 are respectively connected to coupling shaft B408. One end of the coupling shaft B408 is connected to bearing A411. The roller A... 415 is installed at the center of the coupling B 408. The pulley A 409 is separated from the wheel frame A 402 by a shim A 412. The two ends of the coupling B 408 are connected to the pulley A409. The pulley A409 is symmetrically distributed on both sides of the wheel frame A402. The outer edges of the pulley A409 are connected by a synchronous belt A410.

[0013] Further, the water and air distribution device 500 includes a spindle 501, a housing 502, a water inlet 503, an air inlet 504, a water outlet 505, an air outlet 506, an O-ring seal 507, and an angular contact ball bearing 508. The housing 502 is fixedly connected to the base A 405. The spindle 501 is located at the central axis of the water and air distribution device 500. One end of the spindle 501 is fixedly connected to the coupling A 315 through a through hole at the central axis of the base A 405, and the other end is connected to the universal joint fork B. 325 is fixedly connected. The outer shell 502 is provided with a water inlet 503 and an air inlet 504 that communicate with the inner cavity of the spindle 501. The air outlet 506 and the water outlet 505 are provided on the front side of the spindle 501. The water outlet 505 and the air outlet 506 communicate with the inner cavity of the spindle 501 through a closed water passage and a closed air passage, respectively. The spindle 501 is fitted with four sets of O-ring seals 507 and three sets of angular contact ball bearings 508.

[0014] Further, the power support module 600 includes a wheel frame B 601, a pneumatic motor 602, a positioning frame B 603, a cylinder D 604, a roller B 605, a base B 606, a T-shaped tee pipe B 607, a miniature pneumatic motor B 608, a coupling C 609, a coupling D 610, a pulley B 611, a synchronous belt B 612, a bearing B 613, a gasket B 614, a water inlet B 615, an air inlet B 616, and an air supply pipe B 617. A through hole is provided on the inner side of the base B 606. The pneumatic motor 602 is located at the central axis of the power support module 600 and is installed inside the base B 606. The pneumatic motor 602 is coaxial with the base B 606. A water inlet B 615 and an air inlet B 616 are located at the rear of the base B 606. 616, the air supply pipe B 617 is mounted on the base B 606, located at the center of the positioning frame B603. The lower end of the T-shaped tee pipe B 607 is connected to the air supply pipe B 617, and the upper end extends horizontally. Three sets of cylinders D 604 are evenly spaced and circumferentially distributed on the base B 606. The wheel frame B 601 is mounted on the upper part of the cylinders D 604, and the upper end of the cylinders D 604 is fixedly connected to the wheel frame B 601. The cylinders D 604 are connected to the base B 606 via three positioning frames B 603. The miniature pneumatic motor B 608 is located at the center of the upper part of the wheel frame B 601. Three sets of pulleys B 611 are mounted, each set containing eight pulleys B 611. The two ends of the miniature pneumatic motor B 608 are connected to two pulleys B 611 via couplings C 609. The wheel frame B 601... 601 is connected to two ends of a coupling D 610. One end of the coupling D 610 is connected to a bearing B613. The roller B 605 is installed at the center of the coupling D 610. The pulley B 611 is separated from the wheel frame B 601 by a shim B614. The two ends of the coupling D 610 are connected to the pulleys B 611. The pulleys B 611 are symmetrically distributed on both sides of the wheel frame B 601. The outer edges of the pulleys B 611 are connected by a synchronous belt B 612.

[0015] Compared with the prior art, the beneficial effects of this utility model are: the diameter change is achieved by the cylinder structure, avoiding interference between the rigid parts of the robot and the inner wall of the pipe. Both the spring and the cylinder are flexible clamping devices, which can ensure that the roller is always in close contact with the pipe wall, enhancing the robot's adaptability. The cleaning robot inside the hull pipe transmits the torque transmitted by the pneumatic motor 602 through the power support module 600 to the screw drive module 100 through the connection module 300. During this process, the water and air distribution device 500 at the central axis of the conversion support module 400 transports air and water to the screw drive module 100. The screw drive module 100 drives the robot forward in the pipe by spiraling forward. The high-pressure water jet device 210 and the scraper cleaning device 230 rotate synchronously with the screw drive module 100 and clean the pipe wall. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 Left view of the structure of the robot cleaning the inside of the ship's pipes;

[0018] Figure 2 A schematic diagram of the spiral drive module structure;

[0019] Figure 3 This is a schematic diagram of the cleaning device.

[0020] Figure 4 This is a schematic diagram of the connection module structure;

[0021] Figure 5 This is a schematic diagram of the conversion support module structure;

[0022] Figure 6 This is a schematic diagram of the water and gas distribution device.

[0023] Figure 7 This is a schematic diagram of the power support module structure;

[0024] Figure 8 This is a schematic diagram of the stepped pin B structure.

[0025] In the diagram: 100 Spiral Drive Module; 200 Cleaning Device; 300 Connecting Module; 400 Conversion Support Module; 500 Water and Air Distribution Device; 600 Power Support Module; 310 Universal Joint A; 320 Universal Joint B; 101 Axle; 102 Cylinder A; 103 Triangular Frame; 104 Wheel Hub; 105 Sleeve; 106 Cylindrical Roller Bearing; 107 Set Screw; 108 Nut; 109 Stud; 110 Air Port C; 111 Water Port C; 210 High-Pressure Water Jet Device; 220 Guide post; 230 Scraper cleaning device; 211 Nozzle body; 212 Auxiliary nozzle; 213 L-shaped guide tube; 214 Main nozzle; 231 Bracket; 232 Cylinder B; 233 Connecting plate; 234 Elastic scraper; 311 Universal joint fork A; 312 I-beam connecting frame; 313 Stepped pin A; 314 Double fork A; 315 Coupling A; 316 Pin with hole A; 321 Coupling B; 322 Stepped pin B; 323 Double fork B; 324 Pin with hole B; 3 25 Universal joint fork B; 401 T-type tee pipe A; 402 Wheel frame A; 403 Cylinder C; 404 Positioning bracket A; 405 Machine base A; 406 Miniature pneumatic motor A; 407 Coupling A; 408 Coupling B; 409 Pulley A; 410 Synchronous belt A; 411 Bearing A; 412 Shim A; 413 Water inlet A; 414 Air inlet A; 415 Roller A; 416 Air supply pipe A; 501 Spindle; 502 Housing; 503 Water inlet; 504 Air inlet; 505 506 Water outlet; 507 O-ring seal; 508 Angular contact ball bearing; 601 Wheel frame B; 602 Pneumatic motor; 603 Positioning frame B; 604 Cylinder D; 605 Roller B; 606 Machine base B; 607 T-type tee pipe B; 608 Miniature pneumatic motor B; 609 Coupling C; 610 Coupling D; 611 Pulley B; 612 Synchronous belt B; 613 Bearing B; 614 Shim B; 615 Water pipe outlet B; 616 Air pipe outlet B; 617 Air supply pipe B. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0028] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0029] Please see Figure 1 This utility model provides a technical solution: a robot for cleaning the inside of a ship's pipes, including a spiral drive module 100, a cleaning device 200, a connecting module 300, a conversion support module 400, a water and air distribution device 500, and a power support module 600. The spiral drive module 100 is connected to the cleaning device 200 at its left end and to the connecting module 300 at its right end. The connecting module 300 includes a universal joint A 310 and a universal joint B 320. The universal joint A 310 is rotatably connected to the conversion support module 400. The water and air distribution device 500 is installed at the central axis of the conversion support module 400. One end of the conversion support module 400 is connected to the universal joint B 320, and the other end of the universal joint B 320 is rotatably connected to the power support module 600.

[0030] Further, the helical drive module 100 includes a wheel axle 101, cylinder A 102, a tripod 103, a hub 104, a sleeve 105, a cylindrical roller bearing 106, a set screw 107, a nut 108, a stud 109, an air inlet C 110, and a water inlet C 111. Three sets of cylinders A 102 are evenly spaced around the tripod 103. The water inlet C 111 and the air inlet C 110 are located at the right end of the tripod 103 and are fixedly connected to the right end of the tripod 103. The water inlet C 111 and the air inlet C 110 are respectively connected to the inner cavity of the tripod 103 through a closed water passage and a closed air passage. 110 can be connected to a high-pressure water pipe and an air pipe respectively, used to supply air to the screw drive module 100 and transport cleaning liquid. A wheel axle 101 is fixedly connected to the middle of cylinder A 102. Wheel hubs 104 are fitted at both ends of the wheel axle 101. Sleeves 105 are fitted onto the wheel hubs 104. Studs 109 are fixedly connected inside the wheel hubs 104. Cylindrical roller bearings 106 are fitted onto the studs 109. Nuts 108 are fixedly connected to the upper side of the cylindrical roller bearings 106. Six set screws 107 distributed around the circumference of the shaft are fixedly connected to one side of the wheel hubs 104. Through the arrangement of the tripod 103, cylinder A 102, wheel axle 101, wheel hub 104, sleeve 105, studs 109, cylindrical roller bearings 106, nuts 108, set screws 107, water pipe port C 111, and air pipe port C 110, during use, cylinder A... Under the action of air pressure, 102 drives the wheel axle 101 to extend outward, causing the sleeve 105 to fit against the pipe. While the connecting module 300 rotates, it drives the tripod 103 to rotate, which in turn drives the sleeve 105 to rotate with the wheel axle 101. The roller B 605 on the outer edge of the power support module 600 can generate radial driving force under the torque provided by the micro pneumatic motor B608. With the combination of radial driving force and axial rotation, the spiral drive module 100 is driven to make spiral motion along the inner wall of the pipe under the action of friction.

[0031] Furthermore, the cleaning device 200 includes a high-pressure water jet device 210, a guide column 220, and a scraper cleaning device 230. The high-pressure water jet device 210 is located at the right end of the cleaning device 200, the guide column 220 is located at the left side of the high-pressure water jet device 210, and the scraper cleaning device 230 is fixedly connected to the high-pressure water jet device 210 through the guide column 220. In use, the high-pressure water jet device 210 and the scraper cleaning device 230 rotate synchronously with the spiral drive module 100 and clean the pipe wall. The high-pressure water jet device 210 mainly performs the initial cleaning of the inner wall of the pipe by spraying high-pressure water, and then the scraper cleaning device 230 performs the secondary cleaning of the inner wall of the pipe by using the principle of mechanical friction. The high-pressure water jet device 210 and the scraper cleaning device 230 work together to realize the cleaning function of the cleaning robot inside the ship's pipe.

[0032] Furthermore, the high-pressure water jet device 210 includes a nozzle body 211, an auxiliary nozzle 212, an L-shaped guide tube 213, and a main nozzle 214. The nozzle body 211 is located at one end of the guide post 220 near the high-pressure water jet device 210, and a threaded hole is opened in the middle of the nozzle body 211. The nozzle body 211 is fixedly connected to the guide post 220. Two sets of auxiliary nozzles 212 are provided, and the auxiliary nozzles 212 are arranged tangentially to the nozzle body 211. The auxiliary nozzles 212 are fixedly connected to the nozzle body 211. The L-shaped guide tube 213 is located on the nozzle body 211. On the front side, the L-shaped conduit 213 is fixedly connected to the nozzle body 211. The main nozzle 214 is set at the top of the L-shaped conduit 213. The main nozzle 214 is connected to the nozzle body 211 through the L-shaped conduit 213. The L-shaped conduit 213 delivers cleaning liquid to the main nozzle 214. When the high-pressure water jet device 210 rotates synchronously with the spiral drive module 100, it will drive the main nozzle 214 and the auxiliary nozzle 212 to rotate. During the rotation process, the main nozzle 214 and the auxiliary nozzle 212 spray high-pressure water onto the pipe wall to complete the first cleaning work of the inner wall of the pipe.

[0033] Furthermore, the scraper cleaning device 230 includes a bracket 231, cylinders B 232, a connecting plate 233, and elastic scrapers 234. The bracket 231 is located at the end of the guide post 220 away from the nozzle body 211. A threaded hole is provided in the middle of the bracket 231, and the bracket 231 is fixedly connected to the guide post 220. Three sets of cylinders B 232 are installed at equal intervals around the bracket 231. The cylinders B 232 are fixedly connected to the bracket 231. During use, the cylinders B 232 push outwards, pressing the connecting plate 233 and the elastic scrapers 234 on the connecting plate 233 against the inner wall of the pipe, ensuring that the elastic scrapers 234 are always in close contact with the inner wall of the pipe. Three sets of connecting plates 233 are installed on the upper part of the cylinders B 232. The connecting plates 233 are connected to the cylinders B 232. The upper part of 232 is fixedly connected, and three sets of elastic scrapers 234 are set and installed on the upper part of the connecting plate 233. The elastic scrapers 234 are fixedly connected to the connecting plate 233. The scraper cleaning device 230 is fixedly connected to the spiral drive module 100 through the bracket 231. When the spiral drive module 100 rotates, it will drive the scraper cleaning device 230 and the high-pressure water jet device 210 to rotate synchronously. During the rotation of the scraper cleaning device 230, the elastic scrapers 234 perform secondary cleaning on the inner wall of the pipe through the principle of mechanical friction. The scraper cleaning device 230 and the high-pressure water jet device 210 jointly realize the cleaning function of the cleaning robot inside the ship's pipe.

[0034] Furthermore, the universal joint A 310 includes a universal joint fork A 311, a U-shaped connecting bracket 312, a stepped pin A 313, a double fork A 314, a coupling A 315, and a perforated pin A 316. The universal joint fork A 311 is fixedly connected to the right side of the screw drive module 100 to transfer the kinetic energy generated by the universal joint A 310 to the screw drive module 100. The rotation of the universal joint A 310 drives the screw drive module 100 to rotate, realizing the synchronous rotation of the universal joint A 310, the spindle 501, and the screw drive module 100. A through hole is opened in the middle of the universal joint fork A 310. The U-shaped connecting bracket 312 is located at the right end of the universal joint fork A 311 and can connect the universal joint fork A 311 and the double fork A 314. The U-shaped connecting bracket 312 has four through holes around its perimeter. The stepped pin A 313 connects the universal joint fork A 311 through the through holes on opposite sides. 311 is connected to the I-beam connector 312, serving as a connector. The double fork A 314 is located to the right of the universal joint fork A 311. The double fork A 314 has two sets of opposite through holes at both ends, each set of through holes being symmetrically arranged. One end of the double fork A 314 is connected to the I-beam connector 312 through two stepped pins A 313 passing through the opposite through holes. The other end is connected to the perforated pin A 316 through two stepped pins A 313 passing through the opposite through holes. The perforated pin A 316 and the coupling A 315 have the same opposite through holes. The stepped pins A 313 connect the perforated pin A 316 and the coupling A 315 through the opposite through holes. The coupling A 315 is fixedly connected to the spindle 501. The rotation of the spindle 501 drives the coupling A 315 to rotate, which in turn drives the universal joint A 310 to rotate.

[0035] Furthermore, the universal joint B 320 includes a universal joint fork B 325, a stepped pin B 322, a double fork B 323, a perforated pin B 324, and a coupling B 321. The universal joint fork B 325 is located on the right side of the conversion support module 400. The universal joint fork B 325 is fixedly connected to the end of the spindle 501 away from the outlet 505. The rotation of the universal joint B 320 drives the spindle 501 to rotate, while the base A405 and other parts of the conversion support module 400 do not rotate. The coupling B 321 has a through hole in the middle and a set of opposite through holes circumferentially arranged. The stepped pin B 322 connects the coupling B 321 and the perforated pin B 324 through the opposite through holes. The coupling B 321 is fixedly connected to the pneumatic motor 602. The rotation of the pneumatic motor 602 drives the coupling B 321 to rotate. Rotation of 321 drives universal joint B 320 to rotate, which in turn drives spindle 501 to rotate, thus transferring kinetic energy. Perforated pin B 324 and universal joint fork B 325 have identical opposite through holes. Stepped pin B 322 connects perforated pin B 324 and universal joint fork B 325 through these opposite through holes. Double fork B 323 is located to the right of universal joint fork B 325. Two sets of opposite through holes are provided at both ends of double fork B 323, each set symmetrically arranged. Four stepped pins B 322 pass through these opposite through holes and connect to two perforated pins B 324 at both ends of the double fork B 323.

[0036] Preferably, the connecting module 300 is divided into two groups, which can transmit rotational kinetic energy and adapt to different bends. When encountering a bend, the double fork A 314 rotates with the stepped pin A313, and at the same time, the double fork B 323 rotates with the pin with holes B 324, changing the included angle and relative position of the internal pipe cleaning robot, which can ensure that the internal pipe cleaning robot can smoothly complete the turn. The universal joint fork A 311 is firmly connected to the screw drive module 100, and the universal joint fork B 325 is firmly connected to the conversion support module 400 to ensure stable torque transmission.

[0037] Furthermore, the conversion support module 400 includes a T-shaped tee pipe A401, a wheel frame A402, a cylinder C 403, a positioning frame A404, a base A405, a micro pneumatic motor A406, a coupling A407, a coupling B 408, a pulley A409, a synchronous belt A410, a bearing A411, a gasket A412, a water inlet A413, an air inlet A414, a roller A415, and an air supply pipe A416. A through hole is provided at the central axis of the base A405 for mounting the water and air distribution device 500. Three sets of cylinders C403 are evenly spaced and circumferentially distributed on the base A405. The wheel frame A402 is located above the cylinders C 403, and a through hole is provided at the center of the wheel frame A402. The coupling B 408 connects the wheel frame A402 and two pulleys A409 through the through hole. Connected to 409, the connecting shaft B 408 connects the wheel frame A402 and the two pulleys A 409 through the through hole. The pulleys A409 are used for tensioning. The cylinder C 403 is fixedly connected to the wheel frame A402. Under the action of air pressure, the cylinder C 403 can push the wheel frame A402 to move up and down to adapt to the environment of different pipe sizes. The three sets of cylinders C 403 are respectively connected to the machine base A405 through three positioning brackets A404.

[0038] Furthermore, the miniature pneumatic motor A406 is located at the center of the upper part of the wheel frame A402. Three sets of pulleys A409 are arranged, each set containing eight pulleys A409. The miniature pneumatic motor A406 is connected to two pulleys A409 at both ends via couplings A407. Couplings B408 are connected to both ends of the wheel frame A402. One end of coupling B408 is connected to a bearing A411, which can withstand the axial load of the roller A415, ensuring smooth movement. The pulleys A409 and the wheel frame A402 are separated by shims A412, reducing friction between them. The couplings B408 are connected to the pulleys A409 at both ends, and the wheel frame A402... The four pulleys A409 on one side of 402 are externally connected to the synchronous belt A410 to transmit kinetic energy and achieve stable rolling of the roller A415. The pulleys A409, synchronous belt A410, shims A412, and bearings A411 are symmetrically distributed on both sides of the base A405 and are all distributed in three equal parts on the base B606 to transmit the torque generated by the micro pneumatic motor A406 to drive the roller A415 to roll.

[0039] Preferably, the air inlet A 414 and the water inlet A 413 are located on the rear side of the base A 405. The lower end of the T-shaped three-way pipe A 401 is connected to the air supply pipe A 416, which can transport the gas in the air pipe to the inside of the base and then to the three sets of cylinders C 403, as well as meet the air source requirements of each cylinder in the conversion support module 400.

[0040] Furthermore, the water and air distribution device 500 includes a spindle 501, a housing 502, a water inlet 503, an air inlet 504, a water outlet 505, an air outlet 506, an O-ring seal 507, and an angular contact ball bearing 508. The housing 502 is fixedly connected to the base A 405. The spindle 501 is located at the central axis of the water and air distribution device 500. One end of the spindle 501 is fixedly connected to the coupling A 315 through a through hole at the central axis of the base A 405, and the other end is connected to the universal joint fork B. 325 is fixedly connected. The outer shell 502 is provided with a water inlet 503 and an air inlet 504 that communicate with the inner cavity of the spindle 501. The air outlet 506 and the water outlet 505 are provided on the front side of the spindle 501. The water outlet 505 and the air outlet 506 are respectively connected to the inner cavity of the spindle 501 through a closed water passage and a closed air passage. The water inlet 503 and the water outlet 505 can be connected to a high-pressure water pipe for water supply. The air inlet 504 and the air outlet 506 can be connected to an air pipe for air supply. The water and air distribution device 500 can provide a stable water and air supply for the screw drive module 100 and the cleaning device 200. The spindle 501 is fitted with four sets of O-ring seals 507 and three sets of angular contact ball bearings 508. The O-ring seals 507 can prevent water and air leakage.

[0041] Furthermore, the power support module 600 includes a wheel frame B 601, a pneumatic motor 602, a positioning frame B 603, a cylinder D 604, a roller B 605, a base B 606, a T-shaped tee pipe B 607, a miniature pneumatic motor B 608, a coupling C 609, a coupling D 610, a pulley B 611, a synchronous belt B 612, a bearing B 613, a gasket B 614, a water inlet B 615, an air inlet B 616, and an air supply pipe B 617. A through hole is provided inside the base B 606. The pneumatic motor 602 is located at the central axis of the base B 606 and can provide power to the cleaning device 200. The wheel frame B 601 is located above the cylinder D 604, and the cylinder D 604 is fixedly connected to the wheel frame B 601. Under the pressure provided by the air source, 604 can push the wheel frame B 601 to move up and down to adapt to environments with different pipe sizes. The base B606 has a small hole on the side as the air supply path for cylinder D 604. One end of the base B 606 has a water pipe port B 615 and an air pipe port B 616 for connecting water pipes and air pipes and determining the paths of water pipes and air pipes. The lower end of the T-shaped tee pipe B 607 is connected to the air supply port B616, which can transport the gas in the air pipe to the inside of the base B 606 and then to the three sets of cylinders D 604, as well as meet the air supply requirements of each cylinder in the power support module 600.

[0042] Furthermore, the micro pneumatic motor B 608 is connected to two pulleys B 611 at both ends via coupling C 609. The wheel frame B601 is connected to coupling D 610 at both ends, with rollers B 605 mounted on coupling D 610. One end of coupling D 610 is connected to pulley B 611. A pulley B 611 is connected to the center of the wheel frame B 601 for tensioning the synchronous belt B 612. Pulleys B 611 are symmetrically distributed on both sides of the wheel frame B601. Grooves and holes at both ends of the wheel frame B 601 are used to fix the axle 101. Shims B614 are provided on both sides of rollers B 605 to prevent contact between rollers B 605 and the wheel frame B 601. A bearing B 613 is connected to one end of coupling C 609 to withstand the axial load of rollers B 605, ensuring smooth movement. Four pulleys B 611 are located on one side of the wheel frame B 601. The external synchronous belt B612 is used to transmit kinetic energy to achieve stable rolling of roller B605. The pulley B611, synchronous belt B612, shim B614, and bearing B613 are symmetrically distributed on both sides of the base B606 and are all distributed in three equal parts on the base B606. They are used to transmit the torque generated by the miniature pneumatic motor B608 to drive roller B605 to roll.

[0043] Preferably, the pulley mechanism is provided with three sets. When encountering narrow pipes, the retractable cylinder D 604 can adapt to the narrow pipe environment, solve the pipe resistance problem, and increase the stability of the robot's operation in the pipe.

[0044] Furthermore, the water pipe and air pipe pass through the power support module 600 via water pipe port B615 and air pipe port B616, respectively, and are connected to the water pipe port A413 and air pipe port A414 of the conversion support module 400. They then pass through the conversion support module 400 via water pipe port A413 and air pipe port A414, and are connected to the air inlet 504 and water inlet 503 of the water and air distribution device 500, thus transporting stable water and air to the device. One end of the water pipe and air pipe is connected to the water outlet 505 and air outlet 506, respectively, and the other end is connected to the water pipe port C, which is connected to the inner cavity of the tripod 103. Water and air are transported from the water and air distribution device 500 to the spiral drive module 100 via nozzle body 211, guide column 220, bracket 231, and tripod 103. These components are connected by closed water and air channels. The spiral drive module 100 and the cleaning module are connected to the water and air channels via closed water and air channels, respectively, thus enabling the transport of water and air from the spiral drive module 100 to the cleaning module 200. This provides a stable supply of water and air to the spiral drive module 100 and the cleaning device 200, assisting in the cleaning of the inner wall of the pipeline.

[0045] Working Principle: The power support module 600 transmits rotational kinetic energy to the screw drive module 100 and cleaning device 200 through the connecting module 300 and the spindle 501. The miniature pneumatic motor A406 in the power support module 600 and the miniature pneumatic motor B608 in the conversion support module 400 continuously provide forward power. Under the action of various driving forces, the screw drive module 100 moves synchronously with the other modules. Specifically, the miniature pneumatic motor B608 provides forward power, driving B605 to move forward along the inner wall of the pipe under the action of friction. The screw drive module 100 rotates under the torque transmitted by the universal joint A310, thus performing a spiral motion. In a straight pipe, the motion state of the screw drive module 100 does not change, and the body diameter is the same as the pipe diameter. In a curved pipe, the motion state of the module changes when transitioning from a straight pipe to a curved pipe. Therefore, the cylinder D604 has adaptive capability during the transition period. Under the action of air pressure, the cylinder D604 can push the wheel frame B. When the robot moves up and down and fully enters the curve, its diameter reaches its maximum. Upon entering the curve, the double fork A 314 rotates with the stepped pin A313, while the double fork B 323 rotates with the perforated pin B 324, changing the included angle and relative position of the internal pipe cleaning robot to ensure smooth turning. The water and air distribution device 500 provides a stable water and air supply to the screw drive module 100 and the cleaning device 200. Its spindle 501 is connected at both ends to universal joints A 310 and B 320 respectively. When this device is working, the outer casing 502 does not rotate, while the spindle 501 rotates synchronously with universal joint A 310. The high-pressure water jet device 210 is placed at the front of the robot, using sprayed high-pressure water to perform the initial cleaning of the pipe's inner wall. A scraper cleaning device 230 is installed behind the high-pressure water jet device 210 for secondary cleaning of the pipe's inner wall. Through the coordinated action of all components, the pipe cleaning is finally completed.

[0046] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for cleaning the interior of ship hull pipes, characterized in that: The internal cleaning robot for the ship's pipes includes a spiral drive module (100), a cleaning device (200), a connection module (300), a conversion support module (400), a water and air distribution device (500), and a power support module (600). The spiral drive module (100) is connected to the cleaning device (200) at its left end and to the connection module (300) at its right end. The connection module (300) includes a universal joint A (310) and a universal joint B (320). The right end of the universal joint A (310) is rotatably connected to the conversion support module (400). The water and air distribution device (500) is installed at the central axis of the conversion support module (400). The right end of the conversion support module (400) is connected to the universal joint B (320), and the right end of the universal joint B (320) is rotatably connected to the power support module (600).

2. The ship hull pipe internal cleaning robot according to claim 1, characterized in that: The spiral drive module (100) includes a wheel axle (101), cylinder A (102), a tripod (103), a hub (104), a sleeve (105), a cylindrical roller bearing (106), a screw (107), a nut (108), a stud (109), an air inlet C (110), and a water inlet C (111). Three sets of cylinders A (102) are evenly spaced around the tripod (103). The water inlet C (111) and the air inlet C (110) are located at the right end of the tripod (103). The water inlet C (111) and the air inlet C (110) are fixedly connected to the right end of the tripod (103). 0) The cylinder A (102) is connected to the inner cavity of the tripod (103) through a closed water passage and a closed air passage respectively. The cylinder A (102) is fixedly connected to the tripod (103). A wheel axle (101) is fixedly connected to the center of the upper end of the cylinder A (102). A wheel hub (104) is sleeved at both ends of the wheel axle (101). A sleeve (105) is sleeved on the wheel hub (104). A stud (109) is fixedly connected inside the wheel hub (104). A cylindrical roller bearing (106) is sleeved on the stud (109). A nut (108) is fixedly connected to the upper side of the cylindrical roller bearing (106). Six set screws (107) distributed around the circumference of the axis are fixedly connected to one side of the wheel hub (104).

3. The ship hull pipe internal cleaning robot according to claim 2, characterized in that: The cylinder A (102) is provided in three sets, which are evenly spaced and circumferentially distributed on the tripod (103). The cylinder A (102) is fixedly connected to the tripod (103), and the middle part of the cylinder A (102) is fixedly connected to the wheel axle (101).

4. The ship hull pipe internal cleaning robot according to claim 1, characterized in that: The cleaning device (200) includes a high-pressure water jet device (210), a guide post (220), and a scraper cleaning device (230). The high-pressure water jet device (210) is located at the left end of the cleaning device (200), the guide post (220) is located at the right side of the high-pressure water jet device (210), and the scraper cleaning device (230) is installed on the right side of the guide post (220). The scraper cleaning device (230) is fixedly connected to the high-pressure water jet device (210) through the guide post (220).

5. The ship hull pipe internal cleaning robot according to claim 4, characterized in that: The high-pressure water jet device (210) includes a nozzle body (211), auxiliary nozzles (212), an L-shaped guide tube (213), and a main nozzle (214). The nozzle body (211) is located at one end of the guide post (220) near the high-pressure water jet device (210), and the nozzle body (211) is fixedly connected to the guide post (220). Two sets of auxiliary nozzles (212) are provided, and the auxiliary nozzles (212) extend along the nozzle body (211). The auxiliary nozzle (212) is fixedly connected to the nozzle body (211) in a tangential configuration. The L-shaped conduit (213) is located on the front side of the nozzle body (211) and is fixedly connected to the nozzle body (211). The main nozzle (214) is located at the top of the L-shaped conduit (213) and is connected to the nozzle body (211) through the L-shaped conduit (213).

6. The ship hull pipe internal cleaning robot according to claim 4, characterized in that: The scraper cleaning device (230) includes a bracket (231), a cylinder B (232), a connecting plate (233), and elastic scrapers (234). The bracket (231) is located at the end of the guide post (220) away from the nozzle body (211). The bracket (231) has a threaded hole in the middle and is fixedly connected to the guide post (220). Three sets of cylinders B (232) are installed at equal intervals around the bracket (231) and are fixedly connected to the bracket (231). Three sets of connecting plates (233) are installed on the upper part of the cylinders B (232) and are fixedly connected to the cylinders B (232). Three sets of elastic scrapers (234) are installed on the upper part of the connecting plates (233) and are fixedly connected to the connecting plates (233).

7. The ship hull pipe internal cleaning robot according to claim 1, characterized in that: The universal joint A (310) includes a universal joint fork A (311), a U-shaped connecting bracket (312), a stepped pin A (313), a double fork A (314), a coupling A (315), and a perforated pin A (316). The universal joint fork A (311) is connected to the right side of the screw drive module (100). A through hole is provided in the middle of the universal joint A (310). The U-shaped connecting bracket (312) is located at the right end of the universal joint fork A (311). Four through holes are provided around the U-shaped connecting bracket (312). The stepped pin A (313) connects the universal joint fork A (311) and the U-shaped connecting bracket (314) through the through holes on the opposite side. 2) Connected, the double fork A (314) is located to the right of the universal joint fork A (311). The double fork A (314) has two sets of opposite through holes at both ends, each set of through holes is symmetrically arranged. One end of the double fork A (314) is connected to the U-shaped connecting frame (312) through two stepped pins A (313) passing through the opposite through holes respectively. The other end is connected to the perforated pin A (316) through two stepped pins A (313) passing through the opposite through holes. The perforated pin A (316) and the coupling A (315) have the same opposite through holes. The stepped pins A (313) connect the perforated pin A (316) and the coupling A (315) through the opposite through holes. The universal joint B (320) is connected to shaft A (315). It includes a universal joint fork B (325), a stepped pin B (322), a double fork B (323), a perforated pin B (324), and a coupling B (321). The universal joint fork B (325) is located on the right side of the conversion support module (400). The universal joint fork B (325) is fixedly connected to the end of the spindle (501) away from the outlet (505). A through hole is provided in the middle of the coupling B (321). A set of opposite through holes are provided circumferentially along the coupling B (321). The opposite through holes are symmetrically arranged. The stepped pin B (322) passes through… The coupling B (321) and the perforated pin B (324) are connected by opposite through holes. The perforated pin B (324) and the universal joint fork B (325) have the same opposite through holes. The stepped pin B (322) connects the perforated pin B (324) and the universal joint fork B (325) through the opposite through holes. The double fork B (323) is located to the right of the universal joint fork B (325). The double fork B (323) has two sets of opposite through holes at both ends. Each set of through holes is symmetrically arranged. The two ends of the double fork B (323) are connected to the two perforated pins B (324) through the opposite through holes by four stepped pins B (322).

8. The ship hull pipe internal cleaning robot according to claim 1, characterized in that: The conversion support module (400) includes a T-shaped three-way pipe A (401), a wheel frame A (402), a cylinder C (403), a positioning frame A (404), a base A (405), a micro pneumatic motor A (406), a coupling A (407), a coupling B (408), a pulley A (409), a synchronous belt A (410), a bearing A (411), a gasket A (412), a water inlet A (413), an air inlet A (414), a roller A (415), and an air supply pipe A (416). A through hole is provided at the central shaft of the base A (405). Three sets of cylinders C (403) are arranged circumferentially at equal intervals on the base A (405). The wheel frame A (402) is located on the upper part of the cylinders C (403). A through hole is opened at the center of the wheel frame A (402). The connecting shaft B (408) connects the wheel frame A (402) and two pulleys A (409) through the through hole. The upper end of the cylinders C (403) is fixedly connected to the wheel frame A (402). The three sets of cylinders C (403) are respectively connected to the base A (405) through three positioning brackets A (404). The air port A (414) and Water pipe inlet A (413) is located on the rear side of base A (405). Air supply pipe A (416) is installed on base A (405) and located at the center of positioning frame A (404). The lower end of T-shaped tee pipe A (401) is connected to air supply pipe A (416), and the upper end extends horizontally. Miniature pneumatic motor A (406) is located at the upper center of wheel frame A (402). Three sets of pulleys A (409) are provided, each set with eight pulleys A (409). The two ends of miniature pneumatic motor A (406) are connected to two shafts A (407). The pulley A (409) is connected, and the wheel frame A (402) is connected to the two ends of the shaft B (408) respectively. The two ends of the shaft B (408) are connected to the bearing A (411). The roller A (415) is installed at the center of the shaft B (408). The pulley A (409) is separated from the wheel frame A (402) by the shim A (412). The two ends of the shaft B (408) are connected to the pulley A (409). The pulley A (409) is symmetrically distributed on both sides of the wheel frame A (402). The outer edges of the pulley A (409) are connected by the synchronous belt A (410).

9. The ship hull pipe internal cleaning robot according to claim 1, characterized in that: The water and air distribution device 5 includes a spindle (501), a housing (502), a water inlet (503), an air inlet (504), a water outlet (505), an air outlet (506), an O-ring seal (507), and an angular contact ball bearing (508). The housing (502) is fixedly connected to the base A (405). The spindle (501) is located at the central axis of the water and air distribution device (500). One end of the spindle (501) is fixedly connected to the coupling A (315) through a through hole at the central axis of the base A (405), and the other end... The end is fixedly connected to the universal joint fork B (325). The periphery of the housing (502) is provided with a water inlet (503) and an air inlet (504) communicating with the inner cavity of the spindle (501). The air outlet (506) and water outlet (505) are provided on the front side of the spindle (501). The water outlet (505) and air outlet (506) are respectively connected to the inner cavity of the spindle (501) through a closed water passage and a closed air passage. The spindle (501) is fitted with four sets of O-ring seals (507) and three sets of angular contact ball bearings (508) around its periphery.

10. The ship hull pipe internal cleaning robot according to claim 1, characterized in that: The power support module (600) includes a wheel frame B (601), a pneumatic motor (602), a positioning frame B (603), a cylinder D (604), a roller B (605), a base B (606), a T-shaped three-way pipe B (607), a miniature pneumatic motor B (608), a coupling C (609), a coupling D (610), a pulley B (611), a synchronous belt B (612), a bearing B (613), a gasket B (614), a water inlet B (615), an air inlet B (616), and an air supply pipe B (617). A passage is provided on the inner side of the base B (606). The pneumatic motor (602) is located at the central axis of the power support module (600) and is installed inside the base B (606). The pneumatic motor (602) is coaxial with the base B (606). There is a water pipe port B (615) and an air pipe port B (616) at the rear of the base B (606). The air supply pipe B (617) is set on the base B (606) and located at the center of the positioning frame B (603). The lower end of the T-shaped three-way pipe B (607) is connected to the air supply pipe B (617), and the upper end extends horizontally. The cylinder D (604) The machine has three sets of pulleys, evenly spaced and circumferentially distributed on the base B (606). The wheel frame B (601) is mounted on the upper part of the cylinder D (604), and the upper end of the cylinder D (604) is fixedly connected to the wheel frame B (601). The cylinder D (604) is connected to the base B (606) through three positioning brackets B (603). The micro pneumatic motor B (608) is located at the center of the upper part of the wheel frame B (601). The pulleys B (611) are arranged in three sets, with eight pulleys B (611) in each set. The two ends of the micro pneumatic motor B (608) are connected by a coupling C (609). The wheel frame B (601) is connected to two pulleys B (611). The two ends of the wheel frame B (601) are respectively connected to the connecting shaft D (610). One end of the connecting shaft D (610) is connected to the bearing B (613). The roller B (605) is installed at the center of the connecting shaft D (610). The pulley B (611) is separated from the wheel frame B (601) by the gasket B (614). The two ends of the connecting shaft D (610) are connected to the pulleys B (611). The pulleys B (611) are symmetrically distributed on both sides of the wheel frame B (601). The outer edges of the pulleys B (611) are connected by the synchronous belt B (612).

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