A ship hull interior wall cleaning device

Abstract

The utility model relates to a kind of ship body inner wall cleaning devices, including the device main body of bottom setting permanent magnet wheel walking mechanism, permanent magnet wheel walking mechanism includes front side walking wheel unit and rear side walking wheel unit, front side walking wheel unit includes the front side permanent magnet wheel located in the bottom surface downside of device main body, rear side shape wheel unit includes the left side permanent magnet wheel and right side permanent magnet wheel distributed in the left and right sides of device main body, the diameter of left side permanent magnet wheel, right side permanent magnet wheel is greater than the diameter of front side permanent magnet wheel, left side axle and right side axle are respectively rotated and are worn on the left side shell plate and right side shell plate of device main body, the bottom height of left side permanent magnet wheel, right side permanent magnet wheel is lower than the bottom surface of device main body, the top height of left side permanent magnet wheel, right side permanent magnet wheel is higher than the bottom surface of device main body.The utility model solves the technical problem that because permanent magnet wheel is completely located in the bottom downside of vehicle body in prior art, resulting in that the center of gravity of equipment is far from ship body inner wall and the large technical problem of rollover inclination moment.

Description

Technical Field

[0001] This utility model relates to equipment for cleaning the inner wall of a ship, and more particularly to a device for cleaning the inner wall of a ship. Background Technology

[0002] The inner walls of large steel ships need to be cleaned after cargo transport or when different types of goods need to be loaded. Due to the large surface area of ​​the inner walls of large cylinder-shaped ships, manual cleaning is too labor-intensive. Therefore, using appropriate ship cleaning robots to clean the inner walls of ships is a trend in the industry.

[0003] For metal hulls, the magnetic wheels can be used to attract the metal hull, allowing the cleaning device to move along the hull and perform cleaning tasks. Existing devices of this type include a "multifunctional magnetic climbing robot" disclosed in Chinese patent CN217260382U, which includes a vehicle body with a box-shaped structure. The bottom of the vehicle body is equipped with three walking wheel units arranged in a triangle, one of which is a front walking wheel unit, and the other two are rear walking wheel units arranged side by side with intervals.

[0004] Each traveling wheel unit includes a wheel seat located at the bottom of the vehicle body and a permanent magnet wheel rotatably mounted on the wheel seat. The permanent magnet wheels of the two rear traveling wheel units are drive wheels driven by corresponding motors, reducers and transmission components.

[0005] In use, the magnetic climbing robot utilizes the attraction between permanent magnet wheels and metal to move along the inner wall of the metal to complete its functions. The existing magnetic climbing robot has several problems: the wheels of each walking wheel unit are located entirely on the underside of the vehicle body, resulting in a relatively high overall height. More importantly, when the magnetic climbing robot moves along the inner wall of the vessel, the center of gravity is far from the inner wall, requiring sufficient attraction between the permanent magnet wheels and the inner wall to ensure stable operation. This not only increases the cost of the equipment, but also requires additional external force to remove the robot after cleaning due to the strong attraction between the permanent magnet wheels and the vessel body. Utility Model Content

[0006] The purpose of this utility model is to provide a cleaning device for the inner wall of a ship, so as to solve the technical problem in the prior art that the permanent magnet wheel is located completely on the bottom of the vehicle body, resulting in the center of gravity of the equipment being far from the inner wall of the ship and thus the overturning moment being large.

[0007] To solve the above-mentioned technical problems, the technical solution of the ship hull cleaning device of this utility model is as follows:

[0008] A ship hull cleaning device includes a main body with a permanent magnet wheel traveling mechanism at its bottom, and a working head on the main body. The main body has a shell-like structure. The permanent magnet wheel traveling mechanism includes a front traveling wheel unit and a rear traveling wheel unit. The front traveling wheel unit includes a traveling wheel frame located on the lower side of the bottom surface of the main body and a front permanent magnet wheel rotatably mounted on the traveling wheel frame. The rear traveling wheel unit includes a left permanent magnet wheel and a right permanent magnet wheel distributed on the left and right sides of the main body. The diameters of the left and right permanent magnet wheels are larger than the diameter of the front permanent magnet wheel. A left wheel axle and a right wheel axle are rotatably mounted on the left and right shell plates of the main body, respectively. The left permanent magnet wheel is mounted on the left wheel axle, and the right permanent magnet wheel is mounted on the right wheel axle. A traveling drive mechanism for driving the left and right wheel axles to rotate is provided inside the main body. The bottom height of the left and right permanent magnet wheels is lower than the bottom surface of the main body, and the top height of the left and right permanent magnet wheels is higher than the bottom surface of the main body.

[0009] Furthermore, the left and right shell plates of the main body of the device have a "mountain" shaped structure with a high middle and low front and rear ends. The left wheel axle is located at the rear end of the left shell plate, and the right wheel axle is located at the rear end of the right shell plate.

[0010] Furthermore, the lowest positions of the front permanent magnet wheel, the left permanent magnet wheel, and the right permanent magnet wheel are on the same plane.

[0011] Furthermore, the walking drive mechanism includes a left motor arranged corresponding to the left permanent magnet wheel and a right motor arranged corresponding to the right permanent magnet wheel. The left motor is connected to the left wheel axle, and the right motor is connected to the right wheel axle.

[0012] Furthermore, the axis of the left motor extends in the front-to-back direction, and the left motor has a left motor output shaft whose axis extends in the left-to-right direction. The left motor output shaft is connected to the left wheel axle through a left reducer.

[0013] Furthermore, the axis of the right motor extends in the front-to-back direction, and the right motor has a right motor output shaft whose axis extends in the left-to-right direction. The right motor output shaft is connected to the right wheel axle via a right reducer.

[0014] The beneficial effects of this utility model are as follows: In this utility model, the diameter of the forward permanent magnet wheel is smaller than that of the left and right permanent magnet wheels. As for the left and right permanent magnet wheels, the bottom height of the left and right permanent magnet wheels is lower than the bottom surface of the main body of the device, and the top height of the left and right permanent magnet wheels is higher than the bottom surface of the main body of the device. That is to say, the left and right permanent magnet wheels are not completely located below the bottom surface of the main body of the device. Therefore, the distance between the center of gravity of the main body of the device and the hull can be shortened, thereby reducing the lateral tilting moment when the hull cleaning device moves along the hull wall. Attached Figure Description

[0015] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. In the drawings, several embodiments of this disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding portions, wherein:

[0016] Figure 1 This is a schematic diagram of the structure of one embodiment of the present invention;

[0017] 1. Main body of the device; 2. Right side shell plate of the main body of the device; 3. Right side permanent magnet wheel; 4. Right side reducer; 5. Right side motor; 6. Left side motor; 7. Left side permanent magnet wheel; 8. Left side shell plate of the main body of the device; 9. Front permanent magnet wheel; 10. Walking wheel frame. Detailed Implementation

[0018] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. The accompanying drawings show preferred embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0019] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.

[0020] An example of an embodiment of the ship hull cleaning device of this utility model is shown below. Figure 1 As shown:

[0021] The device body 1 includes a permanent magnet wheel walking mechanism at the bottom. The device body 1 is equipped with a replaceable working head (not shown in the figure). The working head can be a cleaning working head, a grinding working head, or a painting working head, etc. The connection between the working head and the device body and the corresponding working head is prior art and will not be described in detail here.

[0022] The main body of the device has a shell-like structure. The left side is the left shell plate 8, the right side is the right shell plate 2, the front side is the front shell plate, and the rear side is the rear shell plate. The left and right shell plates of the main body form a "mountain" shape, which is higher in the middle and lower at both ends.

[0023] The magnetic wheel traveling mechanism includes a front traveling wheel unit and a rear traveling wheel unit. The front traveling wheel unit includes a traveling wheel frame 10 located on the lower side of the bottom surface of the main body of the device and a front permanent magnet wheel 9 rotatably mounted on the traveling wheel frame. The rear traveling wheel unit includes a left permanent magnet wheel 7 and a right permanent magnet wheel 3 distributed on the left and right sides of the main body of the device. The axial width of the left permanent magnet wheel 7 and the right permanent magnet wheel 3 is greater than the axial width of the front permanent magnet wheel, and the diameter of the left permanent magnet wheel 7 and the right permanent magnet wheel 3 is greater than the diameter of the front permanent magnet wheel 9.

[0024] A left axle with an axis extending in the left-right direction is rotatably mounted on the lower rear end of the left shell plate of the main body of the device. A right axle with an axis extending in the left-right direction is rotatably mounted on the lower rear end of the right shell plate of the main body of the device. A walking drive mechanism is installed inside the main body of the device to drive the left and right axles to rotate. The bottom of the left and right permanent magnet wheels is lower than the bottom surface of the main body of the device, while the top of the left and right permanent magnet wheels is higher than the bottom surface of the main body of the device. The lowest points of the front permanent magnet wheel, the left permanent magnet wheel, and the right permanent magnet wheel are on the same plane.

[0025] In this embodiment, the walking drive mechanism includes a left motor 6 arranged corresponding to the left permanent magnet wheel and a right motor 5 arranged corresponding to the right permanent magnet wheel. The left motor 6 is driven to the left wheel axle, and the right motor 5 is driven to the right wheel axle.

[0026] The left motor 6 and the right motor 5 are arranged side by side. The axis of the left motor extends in the front-to-back direction. The left motor has a left motor output shaft whose axis extends in the left-to-right direction. The left motor output shaft is connected to the left wheel axle through the left reducer. The axis of the right motor 5 extends in the front-to-back direction. The right motor has a right motor output shaft whose axis extends in the left-to-right direction. The right motor output shaft is connected to the right wheel axle through the right reducer 4.

[0027] In use, the left motor drives the left permanent magnet wheel to rotate, and the right motor drives the right permanent magnet wheel to rotate. By controlling the rotation speed, the main body of the device can move straight and turn. By using the adsorption effect between the front permanent magnet wheel, the left permanent magnet wheel and the right traveling wheel and the inner wall of the ship, the main body of the device can move along the inner wall of the ship, thereby completing the cleaning, grinding or painting operation of the inner wall of the ship by the working head. In this invention, although the diameters of the left and right traveling wheels are larger than the diameter of the front permanent magnet wheel, the left and right traveling wheels are not completely located under the bottom surface of the main body of the device. Only a portion of the left and right shaped wheels are located under the bottom surface of the main body of the device. This shortens the distance between the main body of the device and the inner wall of the ship, that is, it shortens the distance between the center of gravity of the main body of the device and the inner wall of the ship. This reduces the lateral tilting moment of the main body of the device as it travels along the inner wall of the ship. The magnitude of the lateral tilting moment is equal to the weight of the main body of the device multiplied by the distance between the center of gravity of the main body of the device and the inner wall of the ship. When the lateral tilting moment is large, sufficient adsorption force is required between each traveling wheel and the inner wall of the ship to prevent the main body of the device from falling off the inner wall of the ship.

[0028] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "joined" should be interpreted broadly. For example, the term "joined" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] Based on the above description in this specification, those skilled in the art will also understand that terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0030] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A ship hull cleaning device, comprising a main body with a permanent magnet wheel traveling mechanism at its bottom, and a working head on the main body; the main body has a shell-like structure; the permanent magnet wheel traveling mechanism includes a front traveling wheel unit and a rear traveling wheel unit, characterized in that: The front walking wheel unit includes a walking wheel frame located on the lower side of the bottom surface of the device body and a front permanent magnet wheel rotatably mounted on the walking wheel frame. The rear walking wheel unit includes a left permanent magnet wheel and a right permanent magnet wheel distributed on the left and right sides of the device body. The diameter of the left and right permanent magnet wheels is larger than the diameter of the front permanent magnet wheel. The left and right shell plates of the device body are respectively rotatably mounted with a left wheel axle and a right wheel axle. The left permanent magnet wheel is mounted on the left wheel axle and the right permanent magnet wheel is mounted on the right wheel axle. The device body is equipped with a walking drive mechanism that drives the left and right wheel axles to rotate. The bottom height of the left and right permanent magnet wheels is lower than the bottom surface of the device body, and the top height of the left and right permanent magnet wheels is higher than the bottom surface of the device body.

2. The hull cleaning device according to claim 1, characterized in that: The left and right shell plates of the main body of the device have a "mountain" shaped structure with a high middle and low front and rear ends. The left wheel axle is located at the rear end of the left shell plate, and the right wheel axle is located at the rear end of the right shell plate.

3. The hull cleaning device according to claim 1, characterized in that: The lowest points of the front permanent magnet wheel, the left permanent magnet wheel, and the right permanent magnet wheel are on the same plane.

4. The hull cleaning device according to any one of claims 1 to 3, characterized in that: The walking drive mechanism includes a left motor arranged corresponding to the left permanent magnet wheel and a right motor arranged corresponding to the right permanent magnet wheel. The left motor is connected to the left wheel axle, and the right motor is connected to the right wheel axle.

5. The hull cleaning device according to claim 4, characterized in that: The left motor has an axis that extends in the front-to-back direction and an output shaft that extends in the left-to-right direction. The output shaft is connected to the left wheel axle via a left reducer.

6. The hull cleaning device according to claim 5, characterized in that: The right motor has an axis extending in the front-to-back direction and an output shaft extending in the left-to-right direction. The output shaft is connected to the right wheel axle via a right reducer.

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