Magnetic suction and pasting structure for underwater cleaning robot

Abstract

The utility model relates to underwater cleaning robot field discloses a kind of magnetic attraction pasting structures for underwater cleaning robot, including underwater cleaning robot, the underwater cleaning robot bottom is provided with adjusting mechanism and dismounting mechanism, the adjusting mechanism includes sealing frame, the sealing frame inner wall slidingly connected with support block, the support block inner wall is rotatably connected with magnetic attraction ball wheel, the sealing frame inner wall is elastically connected with support block top by spring, the underwater cleaning robot bottom is fixedly connected with sealing box.In the utility model, by setting adjusting mechanism, the elastic support structure of spring can automatically adapt to the curved surface variation of ship outer wall, ensure that magnetic attraction ball wheel and wall keep stable contact, avoid the adsorption failure problem caused by uneven ship surface, and the spacing of symmetrically distributed magnetic attraction ball wheel group is adjustable, can dynamically adjust adsorption unit layout according to ship wall surface material and thickness, ensure that the magnetic force distribution of each magnetic attraction ball wheel is uniform.

Description

Technical Field

[0001] This utility model relates to the field of underwater cleaning robots, and in particular to a magnetic adhesion structure for underwater cleaning robots. Background Technology

[0002] Underwater cleaning robots are intelligent devices that can autonomously or semi-autonomously clean the surfaces of objects in underwater environments. They integrate key components such as mechanical structures, sensors, control systems, and power systems, and can replace manual labor or traditional tools to efficiently and safely remove dirt from the surfaces of underwater facilities.

[0003] Existing underwater cleaning robots mainly attach to ship surfaces using two methods: permanent magnet adsorption and electromagnetic adsorption. Permanent magnet adsorption robots typically have permanent magnets installed on tracks or wheels, some using Hellbeck arrays. This strengthens the magnetic field in a specific direction to enhance the front adsorption force while weakening the rear magnetic force to reduce walking resistance. Adsorption is achieved by utilizing the magnetic force between the permanent magnets and the ship's steel surface. Electromagnetic adsorption robots are equipped with rubber-coated electromagnets, such as the magnetic disks at the ends of the magnetic mechanical feet of biomimetic cleaning robots. Adsorption is achieved by generating a magnetic field through electricity, and the adsorption is released when the power is turned off, thus stably attaching to the ship surface for operation.

[0004] In existing magnetic adsorption technology for underwater cleaning robots, ship exteriors typically have complex topography, including curved surfaces and uneven areas, and the materials and thicknesses of different ship surfaces vary significantly. Traditional permanent magnet or electromagnetic adsorption structures often use fixed-layout magnetic components, which are difficult to adapt to changes in curved surfaces and are prone to uneven adsorption forces or adsorption failure due to uneven surfaces. Furthermore, the spacing between magnetic units cannot be flexibly adjusted, making it impossible to optimize the magnetic force distribution for different surface materials and thicknesses, resulting in poor adsorption stability and low cleaning efficiency. Therefore, a magnetic adhesion structure for underwater cleaning robots is proposed to address these issues. Summary of the Invention

[0005] To overcome the above shortcomings, this utility model provides a magnetic adhesion structure for underwater cleaning robots, aiming to solve the problem that the magnetic components cannot be stably attached during the adsorption operation of underwater cleaning robots due to the curvature and unevenness of the ship's outer wall.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a magnetic adhesion structure for an underwater cleaning robot, comprising an underwater cleaning robot, wherein the bottom of the underwater cleaning robot is provided with an adjustment mechanism and a disassembly mechanism, the adjustment mechanism includes a sealing frame, a support block is slidably connected to the inner wall of the sealing frame, a magnetic ball wheel is rotatably connected to the inner wall of the support block, the inner wall of the sealing frame is elastically connected to the top of the support block by a spring, a sealing box is fixedly connected to the bottom of the underwater cleaning robot, an adjusting threaded rod is rotatably connected to the inner wall of the sealing box, a moving plate is slidably connected to the inner wall of the sealing box, the moving plate is threadedly connected to the adjusting threaded rod by a threaded sleeve, a sealing connecting rod is fixedly connected to the side wall of the moving plate, and a support plate is fixedly connected to the end of the sealing connecting rod away from the sealing box.

[0007] As a further description of the above technical solution:

[0008] One end of the spring is fixedly connected to the top of the inner wall of the sealing frame, and the other end of the spring is fixedly connected to the top of the support block.

[0009] As a further description of the above technical solution:

[0010] The inner wall of the threaded sleeve is threadedly connected to the outer wall of the adjusting threaded rod, and the outer wall of the threaded sleeve is fixedly connected to the inner wall of the moving plate.

[0011] As a further description of the above technical solution:

[0012] The adjustment mechanism also includes a motor, the outer wall of which is fixedly connected to the inner wall of the sealed box.

[0013] As a further description of the above technical solution:

[0014] The motor output end and the adjusting threaded rod are fixedly connected at one end close to each other.

[0015] As a further description of the above technical solution:

[0016] The disassembly mechanism includes a fixing plate, the outer wall of which is fixedly connected to the outer wall of the sealing frame.

[0017] As a further description of the above technical solution:

[0018] The disassembly mechanism also includes a connecting hole, which is formed on the outer wall of the fixing plate.

[0019] As a further description of the above technical solution:

[0020] The disassembly mechanism also includes a fixing screw, and the fixing plate is detachably connected to the support plate via the fixing screw.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, by setting an adjustment mechanism, the elastic support structure of the spring can automatically adapt to the curved surface changes of the ship's outer wall, ensuring that the magnetic ball wheel maintains stable contact with the wall surface, avoiding the problem of adsorption failure caused by uneven ship surface. The spacing of the symmetrically distributed magnetic ball wheel group is adjustable, and the layout of the adsorption unit can be dynamically adjusted according to the ship wall material and thickness to ensure that the magnetic force distribution of each magnetic ball wheel is uniform.

[0023] 2. In this utility model, by setting a disassembly mechanism, the magnetic ball wheel, as a vulnerable component, can be independently disassembled from its associated sealing frame unit, eliminating the need for a complete disassembly robot, reducing maintenance costs, and facilitating modular management of spare parts. Attached Figure Description

[0024] Figure 1 This is a front view schematic diagram of a magnetic adhesion structure for an underwater cleaning robot proposed in this utility model;

[0025] Figure 2 This is a bottom view of a magnetic adhesion structure for an underwater cleaning robot proposed in this utility model.

[0026] Figure 3 This is a schematic cross-sectional view of a sealed box with a magnetic adhesion structure for an underwater cleaning robot, as proposed in this utility model.

[0027] Figure 4 This is a schematic cross-sectional view of the sealing frame structure of a magnetic adhesive structure for an underwater cleaning robot proposed in this utility model.

[0028] Legend:

[0029] 1. Underwater cleaning robot; 2. Adjustment mechanism; 211. Sealing frame; 212. Support block; 213. Magnetic ball wheel; 214. Spring; 215. Sealing box; 216. Adjusting threaded rod; 217. Moving plate; 218. Threaded sleeve; 219. Sealing connecting rod; 220. Support plate; 221. Motor; 3. Disassembly mechanism; 311. Fixing plate; 312. Connecting hole; 313. Fixing screw. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Reference Figures 1-3The present invention provides an embodiment of a magnetic adhesion structure for an underwater cleaning robot, comprising an underwater cleaning robot 1, which serves as the main equipment for cleaning operations. The underwater cleaning robot 1 has an adjustment mechanism 2 and a disassembly mechanism 3 at its bottom. The adjustment mechanism 2 is used to adjust the spacing of the magnetic ball wheels 213, and the disassembly mechanism 3 is used for the maintenance and replacement of the magnetic ball wheels 213. The adjustment mechanism 2 includes a sealing frame 211, which provides a sealed environment to protect the internal structure. A support block 212 is slidably connected to the inner wall of the sealing frame 211, providing rotational support for the magnetic ball wheels 213. The magnetic ball wheels 213 are rotatably connected to the inner wall of the support block 212, and the magnetic ball wheels 213 are fixed to the robot by magnetically adhering to the outer wall of the ship. The inner wall of the sealing frame 211 is elastically connected to the top of the support block 212 by a spring 214, which provides elastic force. To ensure the magnetic ball wheel 213 fits snugly against the outer wall of the ship, a sealed box 215 is fixedly connected to the bottom of the underwater cleaning robot 1. The sealed box 215 is used to protect the internal parts. An adjusting threaded rod 216 is rotatably connected to the inner wall of the sealed box 215. The adjusting threaded rod 216 adjusts the spacing by rotating. A movable plate 217 is slidably connected to the inner wall of the sealed box 215. The movable plate 217 transmits the displacement changes during the adjustment process. The movable plate 217 is threadedly connected to the adjusting threaded rod 216 through a threaded sleeve 218. The threaded sleeve 218 converts the rotational motion into linear motion. A sealing connecting rod 219 is fixedly connected to the side wall of the movable plate 217. The sealing connecting rod 219 connects the movable plate 217 and the support plate 220 and maintains the seal. The end of the sealing connecting rod 219 away from the sealed box 215 is fixedly connected to the support plate 220. The support plate 220 supports and transmits the action of the adjustment mechanism 2.

[0032] Reference Figures 2-4 One end of spring 214 is fixedly connected to the top of the inner wall of the sealing frame 211, and the other end of spring 214 is fixedly connected to the top of the support block 212. Spring 214 maintains the adhesion force of magnetic ball wheel 213 through elastic deformation. The inner wall of threaded sleeve 218 is threadedly connected to the outer wall of adjusting threaded rod 216. The outer wall of threaded sleeve 218 is fixedly connected to the inner wall of moving plate 217. When adjusting threaded rod 216 rotates, threaded sleeve 218 drives moving plate 217 to move synchronously. Adjustment mechanism 2 also includes motor 221. Motor 221 serves as the power source of adjustment mechanism 2. The outer wall of motor 221 is fixedly connected to the inner wall of sealing box 215. The output end of motor 221 is fixedly connected to one end of adjusting threaded rod 216 close to each other. Motor 221 drives adjusting threaded rod 216 to achieve automated spacing adjustment.

[0033] Reference Figures 2-4The disassembly mechanism 3 includes a fixing plate 311, which is used to connect the sealing frame 211 and the support plate 220. The outer wall of the fixing plate 311 is fixedly connected to the outer wall of the sealing frame 211. The disassembly mechanism 3 also includes a connecting hole 312, which provides an installation channel for the fixing screw 313. The connecting hole 312 is opened on the outer wall of the fixing plate 311. The disassembly mechanism 3 also includes a fixing screw 313. The fixing plate 311 is detachably connected to the support plate 220 through the fixing screw 313. The fixing screw 313 enables quick disassembly and installation maintenance.

[0034] Working principle: When the underwater cleaning robot 1 needs to clean the ship, it will adhere to the outer wall of the ship via the support block 212 and magnetic ball wheels 213. As the underwater cleaning robot 1 moves, the spring 214 inside the sealing frame 211 continuously pushes the support block 212 and magnetic ball wheels 213 to maintain contact with the outer wall of the ship, ensuring that the magnetic ball wheels 213 remain magnetically attached to the outer wall. When it is necessary to adjust the equidistant spacing between the two sets of magnetic ball wheels 213, the motor 221 is activated, causing its output to drive the fixedly connected adjusting threaded rod 216. The rotation causes the threaded sleeve 218 connected to the outer wall of the adjusting threaded rod 216 to move, which in turn causes the moving plate 217 to move synchronously. The moving plate 217 then causes the sealing connecting rod 219 fixed to the side wall to move, which in turn causes the support plate 220 to move. The support plate 220 then causes the sealing frame 211 to move synchronously through the fixed plate 311 and the fixed screw 313. This allows the equal spacing between the two sets of magnetic ball wheels 213 to be adjusted according to actual needs, ensuring that the underwater cleaning robot 1 can be adsorbed onto the outer wall of the ship by the magnetic ball wheels 213.

[0035] When the magnetic ball wheel 213 needs to be disassembled and replaced after a long period of operation, the fixing screw 313 on the fixing plate 311 is removed so that the fixing plate 311 is no longer connected to the support plate 220 through the fixing screw 313. This allows the sealing frame 211 to be removed so that the magnetic ball wheel 213 can be replaced or maintained.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A magnetic adhesion structure for an underwater cleaning robot, comprising an underwater cleaning robot (1), characterized in that: The underwater cleaning robot (1) is equipped with an adjustment mechanism (2) and a disassembly mechanism (3) at its bottom. The adjustment mechanism (2) includes a sealing frame (211), a support block (212) is slidably connected to the inner wall of the sealing frame (211), a magnetic ball wheel (213) is rotatably connected to the inner wall of the support block (212), the inner wall of the sealing frame (211) is elastically connected to the top of the support block (212) by a spring (214), a sealing box (215) is fixedly connected to the bottom of the underwater cleaning robot (1), an adjusting threaded rod (216) is rotatably connected to the inner wall of the sealing box (215), a moving plate (217) is slidably connected to the inner wall of the sealing box (215), the moving plate (217) is threadedly connected to the adjusting threaded rod (216) by a threaded sleeve (218), a sealing connecting rod (219) is fixedly connected to the side wall of the moving plate (217), and a support plate (220) is fixedly connected to the end of the sealing connecting rod (219) away from the sealing box (215).

2. The magnetic adhesion structure for an underwater cleaning robot according to claim 1, characterized in that: One end of the spring (214) is fixedly connected to the top of the inner wall of the sealing frame (211), and the other end of the spring (214) is fixedly connected to the top of the support block (212).

3. The magnetic adhesion structure for an underwater cleaning robot according to claim 1, characterized in that: The inner wall of the threaded sleeve (218) is threadedly connected to the outer wall of the adjusting threaded rod (216), and the outer wall of the threaded sleeve (218) is fixedly connected to the inner wall of the moving plate (217).

4. The magnetic adhesion structure for an underwater cleaning robot according to claim 1, characterized in that: The adjustment mechanism (2) also includes a motor (221), the outer wall of which is fixedly connected to the inner wall of the sealed box (215).

5. The magnetic adhesion structure for an underwater cleaning robot according to claim 4, characterized in that: The output end of the motor (221) is fixedly connected to the adjusting threaded rod (216) at one end close to each other.

6. The magnetic adhesion structure for an underwater cleaning robot according to claim 1, characterized in that: The disassembly mechanism (3) includes a fixing plate (311), the outer wall of which is fixedly connected to the outer wall of the sealing frame (211).

7. The magnetic adhesion structure for an underwater cleaning robot according to claim 1, characterized in that: The disassembly mechanism (3) also includes a connecting hole (312), which is located on the outer wall of the fixing plate (311).

8. The magnetic adhesion structure for an underwater cleaning robot according to claim 6, characterized in that: The disassembly mechanism (3) further includes a fixing screw (313), and the fixing plate (311) is detachably connected to the support plate (220) through the fixing screw (313).

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