Underwater robot anti-collision protection structure for ship cleaning

Abstract

The utility model provides an underwater robot anti-collision protection structure for ship cleaning, and relates to the field of anti-collision protection structures, the underwater robot anti-collision protection structure comprises a robot body, the two ends of the robot body are provided with anti-collision buffering mechanisms used for carrying out stress buffering protection on collision; the wheel protection mechanism is located on the side wall of the anti-collision buffering mechanism and used for carrying out anti-collision stress on the driving system; by arranging the anti-collision buffering mechanism, anti-collision stress protection can be conveniently provided for the robot body, meanwhile, buffering and unloading can be fully conducted on collision force, and therefore the situation that internal elements are damaged due to the fact that the robot body is affected by collision in the moving and walking process is avoided; according to the ship bottom attachment cleaning robot, the aim of effectively and conveniently cleaning attachments on the ship bottom normally is achieved, blocking anti-collision and buffering protection can be conveniently provided for driving systems externally arranged on the two sides of the robot body by arranging the wheel protection mechanisms, and therefore the aim of effectively and further improving the anti-collision protection performance is achieved.

Description

Technical Field

[0001] This utility model relates to the field of anti-collision protection structures, and in particular to an anti-collision protection structure for an underwater robot used for ship cleaning. Background Technology

[0002] Underwater robots for ship cleaning are intelligent devices specifically designed to remove attachments (such as seaweed, barnacles, shellfish, and other marine organisms, as well as rust and old paint) from areas below the waterline of a ship. They combine technologies such as adsorption walking, high-pressure cleaning, and waste recycling to achieve efficient cleaning and environmentally friendly maintenance of the ship's hull.

[0003] When in use, underwater robots typically employ electromagnetic adsorption, negative pressure propellers, or permanent magnet adsorption to ensure stable movement on the curved surfaces of a ship. They are combined with wheeled or tracked drive systems to support flexible movement. Then, they use technologies such as ultra-high pressure water jets and cavitation jets to remove marine organisms and pollutants attached to the ship's hull. This allows them to operate directly at docks or anchorages without needing to enter dry dock to remove organisms from the bottom of the ship, preventing marine organisms from spreading to other waters through the ship and reducing the risk of biological invasion.

[0004] However, when using the above method, the material of attachments such as barnacles on the bottom of the ship is relatively hard and they tend to form protrusions when adhering to the bottom of the ship. As a result, the underwater robot is very likely to collide with the protruding attachments when moving on the bottom of the ship. The impact of the collision can easily damage the internal components of the robot, thus affecting the normal cleaning and use of the equipment.

[0005] Therefore, it is necessary to provide a collision avoidance protection structure for underwater robots used in ship cleaning to solve the above-mentioned technical problems. Utility Model Content

[0006] To address the technical problem that underwater robots are prone to colliding with protruding attachments during movement on the bottom of ships, which can easily damage internal components and affect normal cleaning operations, this invention provides a collision protection structure for underwater robots used in ship cleaning.

[0007] This utility model provides a collision protection structure for an underwater robot used for ship cleaning, comprising: a robot body, with anti-collision buffer mechanisms at both ends of the robot body for impact buffering protection; a wheel guard mechanism located on the side wall of the anti-collision buffer mechanism for impact protection of the drive system; the anti-collision buffer mechanism includes two anti-collision plates, several first buffer components, two force-bearing buffer components, and several force-dissipating components. One end of the two anti-collision plates is symmetrically installed at both ends of the robot body through several first buffer components, the two force-bearing buffer components are respectively installed at the other end of the two anti-collision plates, and the several force-dissipating components are respectively installed at both ends of the two anti-collision plates.

[0008] Preferably, the first buffer assembly includes a support column, a buffer slide column, and a first spring. One end of the support column is fixedly connected to one end of the robot body, one end of the buffer slide column is slidably connected to the middle of the other end of the support column, and the other end of the buffer slide column is fixedly connected to one end of the anti-collision plate. The two ends of the first spring are fixedly connected to one end of the robot body and one end of the anti-collision plate, respectively.

[0009] Preferably, the force-bearing buffer assembly includes a buffer groove, a plurality of second springs, and a buffer soft plate. The buffer groove is opened at the other end of the anti-collision plate. One end of the plurality of second springs is uniformly distributed and fixedly connected to one end of the buffer groove. The side wall of the buffer soft plate is slidably connected to the side wall of the buffer groove, and one end of the buffer soft plate is fixedly connected to the other end of the plurality of second springs. The buffer soft plate is made of rubber.

[0010] Preferably, the unloading assembly includes an unloading groove, two rotating shafts, and unloading rollers. The unloading groove is located at one end of the anti-collision plate, and the two ends of the unloading rollers are rotatably connected to the two ends of the unloading groove through the two rotating shafts.

[0011] Preferably, the wheel guard mechanism includes two wheel guard brackets and several second buffer components, with the two ends of the two wheel guard brackets symmetrically installed between the two anti-collision plates through several second buffer components.

[0012] Preferably, the second buffer assembly includes a support block, a buffer groove, and a third spring. One end of the support block is fixedly connected to the side wall of the anti-collision plate, the buffer groove is opened at the other end of the support block, and one end of the guard wheel bracket is elastically connected to one end of the buffer groove through the third spring.

[0013] Compared with related technologies, the anti-collision protection structure for underwater robots used in ship cleaning provided by this utility model has the following beneficial effects:

[0014] By setting up an anti-collision buffer mechanism, the robot body can be protected against collision forces while effectively buffering and dissipating the impact force. This avoids damage to internal components caused by collisions during the robot's movement, thus achieving the goal of effectively facilitating the normal cleaning of objects attached to the bottom of the boat. Furthermore, by setting up a wheel guard mechanism, the external drive system on both sides of the robot body can be protected against collisions and buffered, thereby further improving the anti-collision protection performance. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the anti-collision protection structure of the underwater robot for ship cleaning according to this utility model.

[0016] Figure 2 This is a schematic diagram of the anti-collision buffer mechanism of the anti-collision protection structure for the underwater robot used for ship cleaning according to this utility model.

[0017] Figure 3 This is a partial exploded view of the anti-collision buffer mechanism of the anti-collision protection structure of the underwater robot for ship cleaning according to this utility model.

[0018] Figure 4 This is a partial exploded view of the wheel guard mechanism of the anti-collision protection structure of the underwater robot for ship cleaning according to this utility model.

[0019] The diagram shows the following components: 1. Robot body; 2. Collision-avoiding buffer mechanism; 201. Collision-avoiding plate; 3. First buffer assembly; 301. Support column; 302. Buffer slide column; 303. First spring; 4. Force-bearing buffer assembly; 401. Buffer groove; 402. Second spring; 403. Buffer soft plate; 5. Force-relieving assembly; 501. Force-relieving groove; 502. Rotating shaft; 503. Force-relieving roller; 6. Wheel protection mechanism; 601. Wheel protection bracket; 7. Second buffer assembly; 701. Support block; 702. Buffer slide groove; 703. Third spring. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Please refer to the following: Figures 1 to 4 A collision protection structure for an underwater robot used for ship cleaning includes: a robot body 1, with anti-collision buffer mechanisms 2 at both ends of the robot body 1 for shock absorption and protection against collisions; and a wheel guard mechanism 6 located on the side wall of the anti-collision buffer mechanism 2 for shock absorption of the drive system.

[0022] The anti-collision buffer mechanism 2 includes two anti-collision plates 201, several first buffer components 3, two force-bearing buffer components 4, and several force-relieving components 5. One end of the two anti-collision plates 201 is symmetrically installed at both ends of the robot body 1 through several first buffer components 3. The two force-bearing buffer components 4 are respectively installed at the other end of the two anti-collision plates 201. The several force-relieving components 5 are respectively installed at both ends of the two anti-collision plates 201.

[0023] The first buffer assembly 3 includes a support column 301, a buffer slide column 302, and a first spring 303. One end of the support column 301 is fixedly connected to one end of the robot body 1, one end of the buffer slide column 302 is slidably connected to the middle of the other end of the support column 301, and the other end of the buffer slide column 302 is fixedly connected to one end of the anti-collision plate 201. The two ends of the first spring 303 are fixedly connected to one end of the robot body 1 and one end of the anti-collision plate 201, respectively.

[0024] The force-bearing buffer assembly 4 includes a buffer groove 401, a plurality of second springs 402 and a buffer soft plate 403. The buffer groove 401 is opened at the other end of the anti-collision plate 201. One end of the plurality of second springs 402 is evenly distributed and fixedly connected to one end of the buffer groove 401. The side wall of the buffer soft plate 403 is slidably connected to the side wall of the buffer groove 401, and one end of the buffer soft plate 403 is fixedly connected to the other end of the plurality of second springs 402. The buffer soft plate 403 is made of rubber.

[0025] The unloading assembly 5 includes an unloading groove 501, two rotating shafts 502 and an unloading roller 503. The unloading groove 501 is opened at one end of the anti-collision plate 201, and the two ends of the unloading roller 503 are rotatably connected to the two ends of the unloading groove 501 through the two rotating shafts 502.

[0026] In the specific implementation process, firstly, the robot body 1 is deployed to the bottom of the ship. Driven by wheeled or tracked systems on both sides of the robot body 1, it can move along the bottom of the ship. A cleaning system on the bottom of the robot body 1 can then wash away any attached materials. During movement, when a collision occurs with the attached materials, anti-collision plates 201 located at both ends of the robot body 1 absorb the impact force, preventing direct collision and force application. Simultaneously, the force applied to the anti-collision plates 201 causes the connected buffer slides 302 to slide a short distance at one end of the support column 301 for buffering. A first spring 303 provides a reaction force, providing initial rebound buffering of the collision force. Furthermore, a rubber-material buffer plate 403 further cushions the impact of the anti-collision plates 201. The impact force on the surface is provided with elastic force buffering, and the second spring 402 is compressed by the soft buffer plate 403 sliding in the buffer groove 401. The compression of the second spring 402 provides a reaction force to provide secondary rebound buffering of the impact force. The impact force on the side of the anti-collision plate 201 is provided by the unloading roller 503 and rotates in the unloading groove 501 through the shaft 502. The rotation of the unloading roller 503 in the unloading groove 501 disperses the impact force to both sides, thereby further unloading and buffering the impact force on the side. In this way, it can provide anti-collision force protection for the robot body 1 while fully buffering and unloading the impact force, thereby avoiding damage to the internal components of the robot body 1 due to collisions during movement and walking, and facilitating normal cleaning of the attachments on the bottom of the boat.

[0027] Furthermore, the wheel guard mechanism 6 includes two wheel guard brackets 601 and several second buffer components 7. The two ends of the two wheel guard brackets 601 are symmetrically installed between the two anti-collision plates 201 through several second buffer components 7.

[0028] The second buffer assembly 7 includes a support block 701, a buffer groove 702, and a third spring 703. One end of the support block 701 is fixedly connected to the side wall of the anti-collision plate 201, the buffer groove 702 is opened at the other end of the support block 701, and one end of the guard wheel bracket 601 is elastically connected to one end of the buffer groove 702 through the third spring 703.

[0029] It should be noted that while the robot is moving, the wheel guards 601 provide effective protection and anti-collision force to the drive systems on both sides of the robot body 1, thus preventing the external drive systems from being directly impacted and damaged. The wheel guards 601 slide within the buffer groove 702 at one end of the support block 701 under pressure, stretching the third spring 703. The stretching of the third spring 703 provides a reaction force to further buffer the impact force. This effectively provides protection and anti-collision for the external drive systems on both sides of the robot body 1, thereby improving the anti-collision protection performance of the robot body 1.

[0030] The working principle of the anti-collision protection structure for underwater robots used in ship cleaning provided by this utility model is as follows:

[0031] In use, the robot body 1 is first placed on the bottom of the ship. Driven by wheeled or tracked systems on both sides, the robot body 1 moves along the bottom of the ship. A cleaning system on the bottom of the robot body 1 washes away any debris attached to the ship's hull. During movement, when a collision occurs with debris, anti-collision plates 201 located at both ends of the robot body 1 absorb the impact force, preventing direct collision and force between the robot body 1 and the debris. Simultaneously, the force absorbing through the anti-collision plates 201 activates connected buffer slides. The force applied to the support column 301 is slid short distances at one end for cushioning, and the first spring 303 provides a reaction force to initially cushion the impact force. The rubber-made cushioning plate 403 provides elastic cushioning for the impact force on the front of the crash barrier 201. The cushioning plate 403 slides within the cushioning groove 401, compressing the second spring 402. This compression provides a reaction force for secondary cushioning of the impact force. The impact force on the side of the crash barrier 201 is absorbed by the unloading roller 503. The rotating shaft 502 rotates within the unloading groove 501. The unloading roller 503 rotates within the unloading groove 501, thus dispersing the impact force to both sides along the rotation of the unloading roller 503. This further buffers and absorbs the impact force received from the sides, effectively providing collision protection for the robot body 1 while adequately buffering and dissipating the impact force. This prevents damage to internal components caused by collisions during the robot body 1's movement, facilitating normal cleaning of debris attached to the bottom of the boat. Furthermore, during movement, the protective wheels... The bracket 601 can effectively block and protect the drive systems on both sides of the robot body 1 from impact, thus preventing damage to the external drive systems from direct collision. The bracket 601 is subjected to force and slides within the buffer groove 702 at one end of the support block 701, stretching the third spring 703. The stretching of the third spring 703 provides a reaction force to further buffer the impact force. This effectively provides blocking and buffer protection for the external drive systems on both sides of the robot body 1, thereby further improving the collision protection performance of the robot body 1.

[0032] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A collision avoidance protection structure for an underwater robot used for ship cleaning, characterized in that, include: The robot body has anti-collision buffer mechanisms at both ends for shock absorption and protection against collisions. The wheel guard mechanism is located on the side wall of the anti-collision buffer mechanism to protect the drive system from impact forces. The anti-collision buffer mechanism includes two anti-collision plates, several first buffer components, two force-bearing buffer components, and several force-relieving components. One end of the two anti-collision plates is symmetrically installed at both ends of the robot body through several first buffer components. The two force-bearing buffer components are respectively installed at the other end of the two anti-collision plates, and the several force-relieving components are respectively installed at both ends of the two anti-collision plates.

2. The anti-collision protection structure for underwater robots used in ship cleaning according to claim 1, characterized in that, The first buffer assembly includes a support column, a buffer slide column, and a first spring. One end of the support column is fixedly connected to one end of the robot body, one end of the buffer slide column is slidably connected to the middle of the other end of the support column, and the other end of the buffer slide column is fixedly connected to one end of the anti-collision plate. The two ends of the first spring are respectively fixedly connected to one end of the robot body and one end of the anti-collision plate.

3. The anti-collision protection structure for underwater robots used in ship cleaning according to claim 1, characterized in that, The force-bearing buffer assembly includes a buffer groove, several second springs, and a buffer plate. The buffer groove is located at the other end of the anti-collision plate. One end of each of the second springs is uniformly distributed and fixedly connected to one end of the buffer groove. The side wall of the buffer plate is slidably connected to the side wall of the buffer groove, and one end of the buffer plate is fixedly connected to the other end of each of the second springs. The buffer plate is made of rubber.

4. The anti-collision protection structure for underwater robots used in ship cleaning according to claim 1, characterized in that, The unloading assembly includes an unloading groove, two rotating shafts, and unloading rollers. The unloading groove is located at one end of the anti-collision plate, and the two ends of the unloading rollers are rotatably connected to the two ends of the unloading groove through the two rotating shafts.

5. The anti-collision protection structure for underwater robots used in ship cleaning according to claim 1, characterized in that, The wheel guard mechanism includes two wheel guard brackets and several second buffer components. The two ends of the two wheel guard brackets are symmetrically installed between two anti-collision plates through several second buffer components.

6. The anti-collision protection structure for underwater robots used in ship cleaning according to claim 5, characterized in that, The second buffer assembly includes a support block, a buffer groove, and a third spring. One end of the support block is fixedly connected to the side wall of the anti-collision plate, the buffer groove is opened at the other end of the support block, and one end of the guard wheel bracket is elastically connected to one end of the buffer groove through the third spring.

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