Drive-by-wire magnetic wall-climbing type ship outboard leaking stoppage robot

Abstract

The utility model discloses a drive-by-wire magnetic wall-climbing type ship outboard plugging robot which comprises a detection module, a communication module, a moving module, a plugging operation module and a remote controller, and the detection module comprises a front action observation camera, an operation observation camera and a flow velocity sensor. An operator puts down a robot body composed of the detection module, the communication module, the moving module and the leaking stoppage operation module along the gunwale of a ship, the moving module is adsorbed to the surface of the ship, and the operator controls the moving module through a remote controller to drive the robot body to move towards the damaged position. An operator generates a moving instruction for navigation according to the received moving video, the robot body is navigated to the damaged position, and then the operator generates a leaking stoppage instruction through the remote controller according to the received working video to control the working state of the leaking stoppage operation module till the leaking stoppage operation module blocks the damaged position; the plugging device has the advantage that the plugging task can be quickly, efficiently and safely completed.

Description

A wire-controlled magnetic wall-climbing shipboard leak-sealing robot Technical Field

[0001] This utility model relates to robots, and more particularly to a wire-controlled magnetic wall-climbing shipboard leak-sealing robot. Background Technology

[0002] During navigation, ships may suffer damage to their underwater hull bulkheads due to collisions, torpedoes, missile attacks, or other reasons. If leaks are not plugged in time, a large amount of water will enter the hull, threatening the safety of the ship.

[0003] Traditional methods of sealing leaks on the outside of ships mainly rely on a large number of people using sealing mats or divers going underwater to seal leaks, which is inefficient and risky. Summary of the Invention

[0004] The technical problem to be solved by this utility model is to provide a wire-controlled magnetic wall-climbing shipboard leak-sealing robot that can quickly, efficiently and safely complete the leak-sealing task.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a wire-controlled magnetic wall-climbing shipboard leak-sealing robot, comprising a detection module, a communication module, a movement module, a leak-sealing operation module, and a remote controller; the detection module includes a front-mounted motion observation camera, an operation observation camera, and a flow velocity sensor; the front-mounted motion observation camera, the operation observation camera, the flow velocity sensor, the movement module, and the leak-sealing operation module are respectively connected to the communication module; the communication module is connected to the remote controller; the front-mounted motion observation camera is used to capture the movement video of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot and transmit it to the remote controller through the communication module; the operation observation camera is used to capture the working video of the leak-sealing operation module and transmit it to the remote controller through the communication module. The remote controller; the flow velocity sensor is used to detect the water flow velocity and transmit it to the remote controller via the communication module; the remote controller is used by the operator to send movement commands to the communication module based on the movement video of the wire-controlled magnetic climbing shipboard leak-sealing robot and the water flow velocity, and to send leak-sealing commands to the communication module based on the working video of the leak-sealing operation module; the communication module is used to send movement commands to the movement module and leak-sealing commands to the leak-sealing operation module; the movement module is used to realize the magnetic adsorption of the wire-controlled magnetic climbing shipboard leak-sealing robot on the ship surface and to realize the movement of the wire-controlled magnetic climbing shipboard leak-sealing robot on the ship surface according to the movement commands; the leak-sealing operation module is used to perform leak-sealing work according to the leak-sealing commands.

[0006] Compared with existing technologies, the advantages of this invention lie in its use of a wire-controlled magnetic wall-climbing shipboard leak-sealing robot comprised of a detection module, a communication module, a movement module, a leak-sealing operation module, and a remote controller. The detection module includes a forward-facing motion observation camera, an operation observation camera, and a flow velocity sensor. When underwater hull bulkhead damage occurs on a ship, the operator lowers the robot body, consisting of the detection module, communication module, movement module, and leak-sealing operation module, along the ship's side. The movement module then adheres to the surface of the ship requiring leak sealing. The operator uses the remote controller to control the movement module, driving the robot body towards the damaged area. During this movement, the forward-facing motion observation camera captures real-time video of the robot's movement and transmits it to the remote controller via the communication module. The flow velocity sensor detects the water flow velocity in real-time and transmits this data to the remote controller via the communication module. If the water flow velocity exceeds a preset reference value, it indicates a risk of the movement module falling off the ship's surface and making it unsuitable for repair. In the leak repair operation, the operator retrieves the wire-controlled magnetic wall-climbing shipboard leak-sealing robot. If the water flow speed is not higher than the preset reference value, it indicates that the mobile module does not pose a risk of falling off the ship's surface under the current environment, making it suitable for leak repair. At this point, the operator navigates based on the received mobile video, and generates movement commands in real time using the remote control to send to the communication module, controlling the movement direction of the mobile module and navigating the robot body to the damaged location. Then, the operator generates leak-sealing commands through the remote control and sends them to the communication module to control the leak-sealing module to work. During this process, the operation observation camera captures real-time video of the leak-sealing module's operation and transmits it to the remote control through the communication module. Based on the received video, the operator generates leak-sealing commands through the remote control to control the working status of the leak-sealing module until the leak-sealing module seals the damaged area, achieving the effect of external leak sealing. Thus, this utility model achieves leak sealing simply by operating the remote control, enabling the rapid, efficient, and safe completion of leak-sealing tasks.

[0007] Furthermore, the remote control is a wired remote control, which is connected to the communication module via an armored cable.

[0008] Furthermore, the mobile module includes two motion drive devices, two sets of tracked wheels, and two magnetic tracks. The two sets of tracked wheels are arranged in parallel and spaced apart. Each set of tracked wheels includes two tracked wheels arranged at intervals. The two magnetic tracks are wrapped around the two sets of tracked wheels in a one-to-one correspondence. Both motion drive devices are connected to the communication module and are used to drive the two sets of tracked wheels to rotate in a one-to-one correspondence under the control of the mobile command.

[0009] Furthermore, each motion drive device is a motor drive device, and the movement command is a motor drive command.

[0010] Furthermore, each motion drive device includes a motor and two gears, referred to as the first motor and the two gears as the first gear and the second gear. The first gear is mounted on the output shaft of the first motor, and the second gear is mounted on a corresponding set of track wheels. The first gear and the second gear mesh, and the first motor is connected to the communication module.

[0011] Furthermore, each magnetic track includes an annular track and multiple powerful magnets. The annular track is made of rubber, and multiple powerful magnets are embedded on one side of the annular track. The multiple powerful magnets are evenly spaced around the side of the annular track. The multiple powerful magnets are used to achieve the attraction between the annular track and the surface of the ship, ensuring that the mobile module can be attached to the surface of the ship for movement.

[0012] Furthermore, the leak-sealing module includes a magnetic leak-sealing box, a leak-sealing box drive device, and a leak-sealing box shaft guide cylinder. The leak-sealing box drive device is connected to the communication module and is used to drive the leak-sealing box shaft guide cylinder to move linearly. The magnetic leak-sealing box is sleeved on the leak-sealing box shaft guide cylinder and is used to attract and seal the leak with the surface of the ship.

[0013] Furthermore, the leak-sealing box drive device includes a motor and a gear. The motor is referred to as the second motor, and the gear is referred to as the third gear. The third gear is mounted on the output shaft of the second motor. A rack is provided on the shaft guide of the leak-sealing box. The third gear meshes with the rack. The second motor is connected to the communication module.

[0014] Furthermore, the magnetic sealing box includes a box body and a strong magnetic rubber sealing ring disposed around the box body for sealing. The strong magnetic rubber sealing ring includes a rubber sealing ring and a plurality of magnets embedded and fixed in the rubber sealing ring for attracting with the surface of the ship.

[0015] Furthermore, the enclosure material is engineering plastic or fiberglass. Attached Figure Description

[0016] Figure 1 is a front view of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot of this utility model;

[0017] Figure 2 is a side view of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot of this utility model.

[0018] Figure 3 is a top view of the leak-sealing box of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot of this utility model. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0020] Example 1: As shown in Figures 1 and 2, a wire-controlled magnetic wall-climbing shipboard leak-sealing robot includes a detection module, a communication module 1, a movement module, a leak-sealing operation module, and a remote controller 2. The detection module includes a forward-facing motion observation camera 3, an operation observation camera 4, and a flow velocity sensor 5. The forward-facing motion observation camera 3, the operation observation camera 4, the flow velocity sensor 5, the movement module, and the leak-sealing operation module are all connected to the communication module 1. The communication module 1 is connected to the remote controller 2. The forward-facing motion observation camera 3 is used to capture the movement video of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot and transmit it to the remote controller 2 through the communication module 1. The operation observation camera 4 is used to capture the working video of the leak-sealing operation module and transmit it through the communication module 1. The system provides remote controller 2; flow velocity sensor 5 is used to detect water flow velocity and transmit it to remote controller 2 via communication module 1; remote controller 2 is used by the operator to send movement commands to communication module 1 based on the movement video of the wire-controlled magnetic climbing shipboard leak sealing robot and the water flow velocity, and to send leak sealing commands to communication module 1 based on the working video of the leak sealing operation module; communication module 1 is used to send movement commands to the movement module and leak sealing commands to the leak sealing operation module; the movement module is used to realize the magnetic adsorption of the wire-controlled magnetic climbing shipboard leak sealing robot on the ship surface and to realize the movement of the wire-controlled magnetic climbing shipboard leak sealing robot on the ship surface according to the movement commands; the leak sealing operation module is used to perform leak sealing work according to the leak sealing commands.

[0021] In this embodiment, when the ship experiences underwater hull bulkhead damage, the operator lowers the robot body, consisting of a detection module, communication module 1, a movement module, and a leak-sealing module, along the ship's side. The movement module then adheres to the surface of the ship requiring leak sealing. The operator uses a remote control 2 to control the movement module, driving the robot body towards the damaged area. During this movement, a forward-facing motion observation camera 3 captures real-time video of the wire-controlled magnetic wall-climbing ship hull-sealing robot's movement and transmits this video to the remote control 2 via the communication module 1. A flow velocity sensor 5 detects the water flow velocity in real-time and transmits this data to the remote control 2 via the communication module 1. If the water flow velocity is higher than a preset reference value, it indicates a risk of the movement module falling off the ship's surface under the current conditions, making leak sealing unsuitable. In this case, the operator retrieves the wire-controlled magnetic wall-climbing ship hull-sealing robot. If the water flow velocity is not higher than the preset water flow velocity reference value, it indicates that there is no risk of the mobile module falling off the ship's surface under the current environment, making it suitable for leak repair operations. At this time, the operator navigates the robot body according to the received mobile video, and generates a movement command in real time using the remote controller 2, which is sent to the communication module 1 to control the movement direction of the mobile module and navigate the robot body to the damaged location and stop. Then, the operator generates a leak-sealing command through the remote controller 2 and sends it to the communication module 1 to control the leak-sealing operation module to work. During this process, the operation observation camera 4 captures the working video of the leak-sealing operation module in real time and transmits it to the remote controller 2 through the communication module 1. Based on the received working video, the operator generates a leak-sealing command through the remote controller 2 and adjusts the working status of the leak-sealing operation module until the leak-sealing operation module seals the damaged area, achieving the effect of external leak sealing.

[0022] Example 2: This example is basically the same as Example 1, except that in this example, the remote controller 2 is a wired remote controller, which is connected to the communication module 1 through the armored cable 12.

[0023] In this embodiment, the mobile module includes two motion drive devices 6, two sets of tracked wheels and two magnetic tracks 8. The two sets of tracked wheels are arranged in parallel and spaced apart. Each set of tracked wheels includes two tracked wheels 7 arranged at intervals. The two magnetic tracks 8 are wrapped around the two sets of tracked wheels in a one-to-one correspondence. Both motion drive devices 6 are connected to the communication module 1 and are used to drive the two sets of tracked wheels to rotate in a one-to-one correspondence under the control of the motion command.

[0024] In this embodiment, each motion driving device 6 is a motor driving device, and the movement command is a motor driving command.

[0025] In this embodiment, each motion drive device 6 includes a motor and two gears. The motor is referred to as the first motor, and the two gears are referred to as the first gear and the second gear. The first gear is mounted on the output shaft of the first motor, and the second gear is mounted on a corresponding set of track wheels. The first gear and the second gear mesh. The first motor is connected to the communication module 1. When the first motor rotates, it drives the first gear to rotate, thereby driving the set of track wheels to rotate, thus realizing the movement of the magnetic track 8.

[0026] In this embodiment, each magnetic track 8 includes an annular track and multiple powerful magnets. The annular track is made of rubber, and multiple powerful magnets are embedded on one side of the annular track. The multiple powerful magnets are evenly spaced around the side of the annular track. The multiple powerful magnets are used to achieve the attraction between the annular track and the surface of the ship, ensuring that the mobile module can be attracted to the surface of the ship and move.

[0027] In this embodiment, the leak sealing module includes a magnetic leak sealing box 9, a leak sealing box drive device 10, and a leak sealing box shaft guide cylinder 11. The leak sealing box drive device 10 is connected to the communication module 1. The leak sealing box drive device 10 is used to drive the leak sealing box shaft guide cylinder 11 to move linearly. The magnetic leak sealing box 9 is sleeved on the leak sealing box shaft guide cylinder 11 and is used to attract the ship surface to seal the leak.

[0028] In this embodiment, the leak-sealing box drive device 10 includes a motor and a gear. The motor is referred to as the second motor, and the gear is referred to as the third gear. The third gear is installed on the output shaft of the second motor. A rack is provided on the shaft guide of the leak-sealing box. The third gear and the rack mesh. The second motor is connected to the communication module 1.

[0029] In this embodiment, the magnetic sealing box 9 includes a box body 91 and a strong magnetic rubber sealing ring 92 disposed around the box body 91 for sealing. The strong magnetic rubber sealing ring 92 includes a rubber sealing ring and a plurality of magnets embedded and fixed in the rubber sealing ring for attracting with the surface of the ship.

[0030] In this embodiment, when the ship experiences underwater hull bulkhead damage, the operator lowers the robot body, consisting of a detection module, communication module 1, movement module, and leak-sealing module, along the ship's side. The robot body is then attached to the surface of the ship requiring leak sealing via multiple strong magnets on its circular tracks. The operator sends motor drive commands to the first motors in the two motion drive devices 6 via remote control 2, controlling the rotation speed of the first motors to move the robot body. When the rotation speeds of the first motors in the two motion drive devices 6 are the same, the robot body moves in a straight line; when the rotation speeds of the first motors in the two motion drive devices 6 are different, the robot body turns. The operator then uses the relative position of the robot body to the damaged area, as shown in the moving video, to monitor the robot body. Navigation: The robot body is guided to the damaged area by controlling the rotation speed of the first motor in the two motion drive devices 6 via remote controller 2. Then, based on the relative position of the leak-sealing box and the damaged area shown in the working video, the second motor in the leak-sealing box drive device 10 is controlled by remote controller 2 to move the leak-sealing box to the outside of the damaged area and cover it. At this time, the strong magnetic rubber sealing ring 92 around the box 91 will attract to the surface of the ship, and the damaged area will be sealed, thus sealing the leak. Then, the second motor is reset by remote controller 2 to separate the leak-sealing box shaft guide from the magnetic leak-sealing box 9. Then, under the guidance of the moving video, the rotation speed of the first motor in the two motion drive devices 6 is controlled by remote controller 2 to return the robot body to a position that can be retrieved by the operator, thus realizing the retrieval of the robot body.

[0031] Example 3: This example is basically the same as Example 2, except that in this example, the material of the box 91 is engineering plastic or fiberglass.

[0032] In practical use, this wire-controlled magnetic wall-climbing shipboard leak-sealing robot allows operators to move and seal leaks simply by observing movement and working video feeds and issuing basic motor-driven commands. Because it operates underwater, the electrical components require waterproofing. Furthermore, after recovery, the robot can be reused by installing pre-installed magnetic leak-sealing boxes 9 to seal leaks at other locations.

[0033] In summary, this utility model of a wire-controlled magnetic wall-climbing shipboard leak-sealing robot, through video technology combined with motor operation for manual navigation, can quickly, efficiently, and safely complete leak-sealing tasks, and has broad application prospects.

Claims

1. A wire-controlled magnetic wall-climbing shipboard leak-sealing robot, characterized in that... The system includes a detection module, a communication module, a movement module, a leak-sealing operation module, and a remote controller. The detection module comprises a forward-mounted mobile observation camera, an operation observation camera, and a flow velocity sensor. The forward-mounted mobile observation camera, the operation observation camera, the flow velocity sensor, the movement module, and the leak-sealing operation module are each connected to the communication module. The communication module is connected to the remote controller. The forward-mounted mobile observation camera captures video of the movement of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot and transmits the video to the remote controller via the communication module. The operation observation camera captures video of the leak-sealing operation module in operation and transmits the video to the remote controller via the communication module. The flow velocity sensor detects water flow. The speed is transmitted to the remote controller via the communication module; the remote controller is used by the operator to send movement commands to the communication module based on the movement video of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot and the water flow speed, and to send leak-sealing commands to the communication module based on the working video of the leak-sealing operation module; the communication module is used to send movement commands to the movement module and leak-sealing commands to the leak-sealing operation module; the movement module is used to realize the magnetic adsorption of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot on the ship surface and to realize the movement of the wire-controlled magnetic wall-climbing shipboard leak-sealing robot on the ship surface according to the movement commands; the leak-sealing operation module is used to perform leak-sealing work according to the leak-sealing commands.

2. The wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 1, characterized in that... The remote control is a wired remote control, which is connected to the communication module via an armored cable.

3. The wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 1, characterized in that... The mobile module includes two motion drive devices, two sets of tracked wheels, and two magnetic tracks. The two sets of tracked wheels are arranged in parallel and spaced apart. Each set of tracked wheels includes two tracked wheels spaced apart. The two magnetic tracks are wrapped around the two sets of tracked wheels in a one-to-one correspondence. Both motion drive devices are connected to the communication module and are used to drive the two sets of tracked wheels to rotate in a one-to-one correspondence under the control of the mobile command.

4. The wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 3, characterized in that... Each motion drive device is a motor drive device, and the movement command is a motor drive command.

5. A wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 4, characterized in that... Each motion drive device includes a motor and two gears, referred to as the first motor and the two gears as the first gear and the second gear. The first gear is mounted on the output shaft of the first motor, and the second gear is mounted on a corresponding set of track wheels. The first gear and the second gear mesh, and the first motor is connected to the communication module.

6. The linear-motor wall-climbing ship outboard patching robot according to claim 3, characterized in that Each magnetic track includes an annular track and multiple powerful magnets. The annular track is made of rubber, and multiple powerful magnets are embedded on one side of the annular track. The multiple powerful magnets are evenly spaced around the side of the annular track. The multiple powerful magnets are used to achieve the attraction between the annular track and the surface of the ship, ensuring that the mobile module can be attached to the surface of the ship for movement.

7. The linear-motor wall-climbing ship outboard patching robot according to claim 1, characterized in that The leak sealing module includes a magnetic leak sealing box, a leak sealing box drive device, and a leak sealing box shaft guide cylinder. The leak sealing box drive device is connected to the communication module and is used to drive the leak sealing box shaft guide cylinder to move linearly. The magnetic leak sealing box is sleeved on the leak sealing box shaft guide cylinder and is used to attract and seal the leak with the surface of the ship.

8. A wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 7, characterized in that... The leak-sealing box drive device includes a motor and a gear. The motor is referred to as the second motor, and the gear is referred to as the third gear. The third gear is mounted on the output shaft of the second motor. A rack is provided on the shaft guide of the leak-sealing box. The third gear meshes with the rack. The second motor is connected to the communication module.

9. A wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 7, characterized in that... The magnetic sealing box includes a box body and a strong magnetic rubber sealing ring disposed around the box body for sealing. The strong magnetic rubber sealing ring includes a rubber sealing ring and multiple magnets embedded and fixed in the rubber sealing ring for attracting with the surface of the ship.

10. A wire-controlled magnetic wall-climbing shipboard leak-sealing robot according to claim 9, characterized in that... The enclosure material is engineering plastic or fiberglass.

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