Ship desulfurization tower wall surface salt cleaning robot

Abstract

A ship desulfurization tower wall surface salt cleaning robot comprises a vehicle body, the vehicle body is provided with two base platforms, and the two base platforms are fixedly connected through a connecting rod; the top of each base platform is provided with a turntable, the bottom is provided with a rolling brush, and the outer side part is connected with two crawler belt devices through supporting rods; the rolling brush is connected with a rolling brush motor through a coupler, the rolling brush motor is slidably connected to a guide rail, a spring is arranged between the rolling brush motor and the end of the guide rail, and the guide rail is fixedly connected into the base platform. A water tank and a battery are further fixedly arranged in the base platform, the water tank is connected with the spray head through a hose, and the battery supplies power to a driving motor of the crawler device, a driving motor of the rotary disc, the camera and a servo motor arranged in the steering joint; according to the utility model, the salt on the wall surface of the desulfurizing tower can be comprehensively cleaned, the equipment performance reduction or damage caused by residual salt is avoided, the cleaning efficiency is improved, and a more reliable and efficient solution is provided for the cleaning work of the wall surface of the ship desulfurizing tower.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of cleaning robots, more specifically to a kind of ship desulfurization tower wall salt cleaning robot. BACKGROUND

[0002] Due to the humid environment inside the ship desulfurization tower, salt crystallization is easily attached to the wall, which not only affects the desulfurization efficiency, but also corrodes the ship desulfurization tower wall over time. The traditional cleaning method relies on manual labor, but manual labor into airtight space has safety risks and is not efficient.

[0003] Therefore, a new technical solution is needed to solve the above problems. SUMMARY

[0004] The utility model aims to provide a kind of ship desulfurization tower wall salt cleaning robot, which does not require human entry into the ship desulfurization tower for work, without the risk of personal injury, and can perform cleaning operations in narrow spaces with high efficiency.

[0005] A kind of ship desulfurization tower wall salt cleaning robot, comprising a vehicle body, the vehicle body has two base platforms, the two base platforms are fixedly connected by a connecting rod;

[0006] Each base platform is provided with a turntable at the top and a rolling brush at the bottom, and the outer side is connected to two track devices through a support rod. A mechanical arm is fixedly arranged on the turntable, and a spray head and a camera are arranged at the front end of the mechanical arm. A steering joint is arranged between each track device and a support arm, and the steering joint is driven by a servo motor to deflect the track device to achieve the steering of the vehicle body. Nd-Fe-B permanent magnets are uniformly arranged inside the track of each track device, so that the salt cleaning robot can be adsorbed on the wall of the ship desulfurization tower.

[0007] The rolling brush is connected to a rolling brush motor through a shaft coupling, the rolling brush motor is slidingly connected to a guide rail, and a spring is arranged between the rolling brush motor and the end of the guide rail. The guide rail is fixedly connected inside the base platform.

[0008] A water tank and a battery are also fixedly arranged inside the base platform. The water tank is connected to the spray head through a hose, and the battery supplies power to the drive motor of the track device, the drive motor of the turntable, the camera, and the servo motor inside the steering joint.

[0009] Further, a scraper is arranged at the front end of the vehicle body, and the scraper is hingedly connected to the two base platforms. An electric push rod is arranged between the scraper and the connecting rod for adjusting the gap between the scraper and the wall of the ship desulfurization tower.

[0010] Further, two groups of track devices are arranged side by side at the rear of the vehicle body, and the two groups of track devices are fixedly connected to the connecting rod through a support rod.

[0011] Furthermore, a servo motor for adjusting the pitch angle of the nozzle is provided between the nozzle and the front end of the robotic arm.

[0012] Furthermore, the track surface of the track device is provided with diamond-shaped ridges to increase friction.

[0013] The present invention, by adopting the above technical solution, can achieve the following beneficial effects:

[0014] This invention can thoroughly clean the salt on the walls of desulfurization towers, preventing salt residue from causing equipment performance degradation or damage, improving cleaning efficiency, and providing a more reliable and efficient solution for cleaning the walls of ship desulfurization towers. Attached Figure Description

[0015] Fig. 1 This is a perspective view of the entire utility model;

[0016] Fig. 2 This is a top view of the bottom of this utility model;

[0017] Fig. 3 This is a side view of the structure of this utility model.

[0018] In the diagram, 1-base platform, 2-turntable, 3-roller brush, 4-track device, 5-robotic arm, 6-nozzle, 7-camera, 8-scraper, 9-servo motor. Detailed Implementation

[0019] like Figs. 1-3 As shown, a ship desulfurization tower wall salt cleaning robot includes a vehicle body, the vehicle body having two base platforms 1, the two base platforms 1 being fixedly connected by multiple connecting rods;

[0020] Each base platform 1 has a turntable 2 on top and a roller brush 3 at the bottom, with its outer side connected to two track devices 4 via support rods. A robotic arm 5 is fixedly mounted on the turntable 2, with a nozzle 6 and a camera 7 at its front end. The turntable 2 specifically includes a gear ring rotatably connected to the base platform 1, which meshes with the output end of a drive motor. The drive motor is mounted on the inner wall of the base platform 1 via a bracket, and the clockwise and counterclockwise rotation of the gear ring is achieved by the forward and reverse rotation of the drive motor. The specific structure of the robotic arm 5 can be seen from that of an existing excavator. The robotic arm 5 includes a boom and a forearm. One end of the boom is fixedly connected to the turntable 2, and the other end is hinged to the forearm. An electric actuator is fixedly mounted on the boom, and the drive end of the electric actuator is rotatably connected to the forearm. The nozzle 6 is located at the front end of the forearm, and a servo motor 9 for adjusting the pitch angle of the nozzle 6 is located between the nozzle 6 and the front end of the forearm. The camera 7 is fixedly mounted at the front of the forearm for capturing environmental images inside the ship's desulfurization tower.

[0021] The brush rod of the roller brush 3 is connected to the roller brush motor via a coupling. The roller brush motor is slidably connected to the guide rail. A spring is provided between the roller brush motor and the end of the guide rail. The guide rail is fixedly connected inside the base platform 1. Under the action of the spring, the roller brush 3 has a certain floating ability in the direction perpendicular to the wall. When encountering uneven surfaces, the roller brush 3 can passively rise and fall with the undulation of the wall, always giving the wall sufficient pressure to ensure the cleaning effect. The bristles of the roller brush 3 should be made of wear-resistant flexible composite material.

[0022] Steering joints are provided between the track device 4 and the support arm. The servo motor built into the steering joint drives the track device 4 to deflect, thereby turning the vehicle. Neodymium iron boron permanent magnets are evenly arranged inside the track of each track device 4, so that the salt cleaning robot can adhere to the wall of the ship's desulfurization tower. The support wheel at the upper end of the track device 4 has a built-in drive motor, which is connected to the battery built into the base platform 1 through a flexible shielded cable. The track surface of the track device 4 is provided with diamond-shaped ridges to increase friction.

[0023] The base platform 1 is also equipped with a water tank and a battery. The water tank is connected to the nozzle 6 via a hose. When the water pump in the water tank is turned on, high-pressure fluid can be sprayed out through the nozzle 6 to wash the wall. The battery powers the drive motor of the track device 4, the drive motor of the turntable 2, the camera 7, the servo motor built into the steering joint, and the water pump in the water tank.

[0024] Furthermore, a scraper 8 is provided at the front end of the vehicle body. The scraper 8 is hinged to two base platforms 1 respectively. An electric push rod is provided between the scraper 8 and the connecting rod for adjusting the gap between the scraper 8 and the wall of the ship's desulfurization tower. It should be noted that the scraper 8 is only suitable for flat operations. When it is necessary to scrape salt off the flat surface inside the ship's desulfurization tower, the scraper 8 can be used. For the removal of salt off curved surfaces, a jet is required, that is, high-pressure liquid sprayed from the nozzle 6 is used for removal.

[0025] Furthermore, in order to improve the climbing ability and adhesion to the wall of the cleaning robot, two sets of track devices 4 can be installed side by side at the rear of the vehicle body. The two sets of track devices 4 are fixedly connected by support rods and connecting rods.

[0026] In order to realize remote control of the robot, a controller is arranged in one of the base platforms, which has a wireless transceiver unit and a control unit, the wireless transceiver unit can send the video pictures collected by the camera 7 to the control end, which can be a remote controller, a computer device or a smart mobile device; the control signal of the control end can also be sent to the control unit, and the actions of each actuator in communication connection with the control unit are controlled, the actuators include the water pump in the water tank, the electric push rod of the control arm and the scraper 8, the drive motor of the crawler device 4, the drive motor of the turntable 2, the camera 7, the servo motor built in the steering joint and the rudder 9.

[0027] Since the utility model has base platform 1, independent camera 6 and spray head 7 are arranged on each base platform 1, therefore, salt in two target points can be jetted and cleaned simultaneously in the process of cleaning robot, and the operation efficiency is improved.

[0028] The above is only the preferred embodiment of the utility model, and is not the limitation of the utility model, any equivalent replacement and modification made by any person skilled in the art without departing from the guidance of the utility model is considered to fall within the protection scope of the utility model.

Claims

1. A ship desulfurization tower wall surface salt cleaning robot comprising a vehicle body, characterized in that: The vehicle body has two base platforms (1) fixedly connected by connecting rods between them; The top of each base platform (1) is provided with a turntable (2), the bottom is provided with a rolling brush (3), and the outer side is connected with two crawler devices (4) through support rods; wherein the turntable (2) is fixedly provided with a mechanical arm (5), the front end of the mechanical arm (5) is provided with a spray head (6) and a camera (7); each crawler device (4) is provided with a steering joint between the support arm, and the steering joint is driven by a built-in servo motor to deflect the crawler device (4) to realize the steering of the vehicle body, and the inside of each crawler device (4) is uniformly arranged with neodymium iron boron permanent magnets, so that the salt cleaning robot can be adsorbed on the ship desulfurization tower wall surface; The rolling brush (3) is connected with the rolling brush (3) motor through a shaft coupling, the rolling brush (3) motor is slidingly connected on the guide rail, and a spring is arranged between the rolling brush (3) motor and the end of the guide rail; the guide rail is fixedly connected inside the base platform (1); The base platform (1) is also fixedly provided with a water tank and a battery, the water tank is connected with the spray head (6) through a hose, and the battery is used to power the drive motor of the crawler device (4), the drive motor of the turntable (2), the camera (7) and the servo motor built in the steering joint.

2. A ship desulfurization tower wall surface salt cleaning robot according to claim 1, characterized in that: The front end of the vehicle body is provided with a scraper (8), the scraper (8) is hingedly connected with the two base platforms (1) respectively, and an electric push rod for adjusting the gap between the scraper (8) and the ship desulfurization tower wall surface is arranged between the scraper (8) and the connecting rod.

3. A robot for cleaning salt from the walls of a desulphurisation tower of a ship according to claim 1, characterised in that: The rear part of the vehicle body is provided with two groups of crawler devices (4) side by side, and the two groups of crawler devices (4) are fixedly connected through support rods and connecting rods.

4. The robot for cleaning the salt on the wall surface of a desulfurization tower of a ship according to claim 1, characterized in that: The spray head (6) and the front end of the mechanical arm (5) are provided with a rudder (9) for the pitch angle of the spray head (6).

5. The robot for cleaning the salt on the wall surface of a desulfurization tower of a ship according to claim 1 or 3, characterized in that: The surface of the crawler device (4) is provided with diamond-shaped convex patterns for increasing friction.

Images