Magnetic Adsorption Cleaning Robot

Abstract

This utility model belongs to the field of cleaning robot technology, specifically relating to a magnetic adsorption cleaning robot. It includes a chassis frame, multiple magnetic wheels mounted on the outer wall of the chassis frame, and a sealed outer shell covering the chassis frame. Two servo motors are fixedly connected to the inner wall of the chassis frame and installed inside the sealed outer shell. The output ends of the two servo motors are correspondingly connected to drive components for driving the magnetic wheels. A camera vision component for monitoring the working environment is installed on the sealed outer shell. An mounting plate is also fixedly connected to the outer side of the chassis frame, extending out of the chassis frame, with a cleaning component installed at its end. This utility model has the advantages of stable adsorption, flexible movement, reliable sealing, high cleaning efficiency, energy saving, and minimal damage to the ship's hull coating. It can achieve online, efficient, and environmentally friendly cleaning of ocean-going vessel hulls, and is especially suitable for cleaning operations above the waterline.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning robot technology, specifically relating to a magnetic adsorption cleaning robot. Background Technology

[0002] During ocean-going vessels, the underwater parts of the hull accumulate large amounts of marine organisms (such as barnacles, oysters, and seaweed) and pollutants, forming what is known as "biofouling." Biofouling significantly increases the ship's drag, leading to a sharp increase in fuel consumption (up to 40%), while also accelerating hull corrosion and potentially causing environmental problems such as biological invasion.

[0003] Currently, traditional ship cleaning methods mainly rely on: 1. Dry dock cleaning: extremely costly, time-consuming, and severely impacting ship operational efficiency; 2. Manual diving cleaning: operated by divers using handheld high-pressure water jets. This method is highly dangerous, greatly affected by sea conditions, has low cleaning efficiency, and the high-pressure water jets can easily damage the ship's anti-corrosion coating; 3. Conventional wall-climbing robot cleaning: some methods use brushing or ordinary high-pressure water jets. Brushing causes significant wear to the coating; ordinary high-pressure water jets require very high pressure (usually above 20 MPa) to effectively remove hard shellfish, resulting in high energy consumption and low safety.

[0004] Cavitation jetting is a novel and highly efficient cleaning technology. Its principle involves using high-speed water flow to generate a large number of cavitation bubbles in a low-pressure area. These bubbles rapidly collapse upon reaching the surface being cleaned, instantly generating extremely strong local impact pressure and micro-jet flow. This force is sufficient to peel off hard deposits, but causes far less damage to the substrate and anti-corrosion coating of the ship's hull compared to traditional high-pressure water jetting. However, integrating cavitation jetting technology into a magnetic adsorption robot capable of stable movement on complex curved ship hulls presents significant technical challenges in coordinating adsorption, movement, sealing, and efficient cleaning.

[0005] Therefore, there is an urgent need for a ship cleaning robot that can adapt to the ocean environment, has high cleaning efficiency, causes little damage to the coating, and can operate autonomously and safely. Utility Model Content

[0006] In view of the above-mentioned shortcomings in the existing technology, the present invention provides a magnetic adsorption cleaning robot to solve the above-mentioned problems.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] A magnetic adsorption cleaning robot includes a chassis frame, multiple magnetic wheels mounted on the outer wall of the chassis frame, and a sealed outer shell covering the chassis frame. Two servo motors are fixedly connected to the inner wall of the chassis frame and installed inside the sealed outer shell. The output ends of the two servo motors are respectively connected to drive components for driving the magnetic wheels. A camera vision component for monitoring the working environment is installed on the sealed outer shell. A mounting plate is also fixedly connected to the outer side of the chassis frame, extending out of the chassis frame, and a cleaning component is mounted at its end.

[0009] Furthermore, the plurality of magnetic chucks includes two front-drive magnetic chucks and two rear-drive magnetic chucks.

[0010] Furthermore, the drive assembly includes a main synchronous pulley, a transmission belt, and a driven synchronous pulley. The main synchronous pulley is fixedly connected to a transmission shaft, a main bearing is sleeved on the transmission shaft, and a corresponding main bearing housing is provided for the main bearing. The main bearing housing is fixedly installed on the sealed housing. A bevel gear is fixedly installed at the end of the transmission shaft away from the main synchronous pulley. A spindle is fixedly connected to the driven synchronous pulley, and a front drive magnetic pulley is fixedly connected at the end of the spindle away from the driven synchronous pulley. A driven bearing is sleeved on the spindle, and a corresponding driven bearing housing is provided for the driven bearing. The driven bearing housing is fixedly installed on the sealed housing.

[0011] Furthermore, the main synchronous pulley and the driven synchronous pulley are covered with protective covers, which are fixedly installed on the sealed housing. A first sealing ring is provided between the protective cover and the main bearing housing and the driven bearing housing.

[0012] Furthermore, the photographic vision component includes a camera, a transparent glass cover on the front of the camera, and a housing for fixing the transparent glass. The housing is fixedly installed on a sealed housing, the camera is located inside the sealed housing, the inner wall of the sealed housing is provided with a fixing bracket for fixing the camera, and a second sealing ring is provided between the housing and the sealed housing.

[0013] Furthermore, the cleaning assembly includes a cleaning disc and a connector fixedly connected to the outside of the cleaning disc. The connector includes a base housing and a third sealing ring and a rotating tube disposed inside the base housing. One end of the rotating tube passes through the base housing and is provided with a rotating joint. The other end of the rotating tube is connected to a spray bottom tube, and the end of the spray bottom tube is provided with a nozzle.

[0014] Furthermore, the inner wall of the sealed outer casing is also provided with a sealing strip.

[0015] Furthermore, the sealed housing has an aviation socket on its side wall and an antenna on its top.

[0016] Furthermore, two hooks and two handles are fixedly installed on both sides of the chassis frame.

[0017] Compared with the prior art, this utility model has the following advantages:

[0018] 1. This utility model can clean efficiently and without damage: by using cavitation jet technology, it can efficiently remove hard marine organisms at relatively low water pressure (less than 10MPa), significantly save energy (approximately 30%-50% energy saving), and greatly reduce damage to the anti-corrosion coating of the ship hull;

[0019] 2. The adsorption and movement of this utility model are stable and reliable: The distributed magnetic adsorption layout combined with two-wheel differential drive gives the robot strong adaptability to curved surfaces and extremely high mobility, enabling it to crawl stably in various parts of the hull (including flat areas and the bow with large curvature);

[0020] 3. This utility model has high safety: it replaces high-risk manual diving operations, realizes automated and remote operation, the operation is less affected by sea conditions, and the safety is greatly improved;

[0021] 4. This utility model has excellent sealing performance: the all-round sealing solution designed for underwater operation environment ensures the long-term stable operation of the robot's core electronic components in the high-pressure environment of deep sea;

[0022] 5. This utility model has a wide range of operating scenarios: cleaning operations can be carried out both below and above the waterline of ships. Attached Figure Description

[0023] Figure 1 This is a cross-sectional view (view 1) of an embodiment of the magnetic adsorption cleaning robot of this utility model.

[0024] Figure 2 This is a three-dimensional structural diagram of an embodiment of the magnetic adsorption cleaning robot of this utility model;

[0025] Figure 3 This is a cross-sectional view (view 2) of an embodiment of the magnetic adsorption cleaning robot of this utility model.

[0026] Figure 4 This is a cross-sectional view of the cleaning tray in an embodiment of the magnetic adsorption cleaning robot of this utility model;

[0027] The reference numerals in the accompanying drawings include:

[0028] 1. Chassis frame; 2. Sealed housing; 3. Servo motor; 4. Camera vision component; 5. Mounting plate; 6. Cleaning component; 7. Front drive magnetic pulley; 8. Driven magnetic pulley; 9. Main synchronous pulley; 10. Driven synchronous pulley; 11. Drive shaft; 12. Main bearing; 13. Main bearing housing; 14. Bevel gear; 15. Spindle; 16. Driven bearing; 17. Driven bearing housing; 18. Protective cover; 19. First sealing ring; 20. Camera; 21. Transparent glass; 22. Housing; 23. Second sealing ring; 24. Cleaning tray; 25. Base housing; 26. Third sealing ring; 27. Rotary tube; 28. Rotary joint; 29. ​​Spray bottom tube; 30. Sealing strip; 31. Aviation plug; 32. Antenna; 33. Hook; 34. Handle; 35. Nozzle. Detailed Implementation

[0029] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of this utility model, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0031] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the term "connection" or similar designation indicating the connection relationship between components should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Example

[0033] like Figures 1-4As shown, the magnetic adsorption cleaning robot of this utility model includes a chassis frame 1, multiple magnetic wheels mounted on the outer wall of the chassis frame 1, and a sealed outer shell 2 covering the chassis frame 1. Two servo motors 3 are fixedly connected to the inner wall of the chassis frame 1 and installed inside the sealed outer shell 2. The output ends of the two servo motors 3 are respectively connected to drive components for driving the magnetic wheels. A camera vision component 4 for monitoring the working environment is installed on the sealed outer shell 2. A mounting plate 5 is also fixedly connected to the outer side of the chassis frame 1, extending out of the chassis frame 1, and a cleaning component 6 is installed at its end. The multiple magnetic wheels include two front-drive magnetic wheels 7 and two rear-drive magnetic wheels 8. The driving assembly of the magnetic pulley 8 includes a main synchronous pulley 9, a transmission belt, and a driven synchronous pulley 10. A transmission shaft 11 is fixedly connected to the main synchronous pulley 9, and a main bearing 12 is fitted onto the transmission shaft 11. A corresponding main bearing seat 13 is fitted onto the main bearing 12 and fixedly mounted on the sealed housing 2. A bevel gear 14 is fixedly mounted on the end of the transmission shaft 11 away from the main synchronous pulley 9. A spindle 15 is fixedly connected to the driven synchronous pulley 10, and a front drive magnetic pulley 7 is fixedly connected to the end of the spindle 15 away from the driven synchronous pulley 10. A driven bearing 16 is fitted onto the spindle 15, and a corresponding driven bearing seat is fitted onto the driven bearing 16. 17. The bearing housing 17 is fixedly mounted on the sealed housing 2. The main synchronous pulley 9 and the driven synchronous pulley 10 are covered with protective covers 18, which are fixedly mounted on the sealed housing 2. A first sealing ring 19 is provided between the protective cover 18 and the main bearing housing 13 and the driven bearing housing 17. The photographic vision assembly 4 includes a camera 20, a transparent glass 21 covering the front end of the camera 20, and a housing 22 for fixing the transparent glass 21. The housing 22 is fixedly mounted on the sealed housing 2. The camera 20 is located inside the sealed housing 2. A fixing bracket is provided on the inner wall of the sealed housing 2 for fixing the camera 20, the housing 22, and the sealed housing 2. A second sealing ring 23 is provided between them. The cleaning assembly 6 includes a cleaning disc 24 and a connector fixedly connected to the outside of the cleaning disc 24. The connector includes a base housing 25 and a third sealing ring 26 and a rotating tube 27 provided inside the base housing 25. One end of the rotating tube 27 passes through the base housing 25 and is provided with a rotary joint 28. The other end of the rotating tube 27 is connected to a jet bottom tube 29. The end of the jet bottom tube 29 is provided with a nozzle 35. The inner wall of the sealing housing 2 is also provided with a sealing strip 30. The side wall of the sealing housing 2 is provided with an aviation socket. The top of the sealing housing 2 is provided with an antenna 32. Two hooks 33 and two handles 34 are also fixedly installed on both sides of the chassis frame 1.When using this magnetic adsorption robot, the rotary joint 28 is connected to the high-pressure water pipe, and the two front-drive magnetic rollers 7 and the two driven magnetic rollers 8 are adsorbed onto the surface of the hull. The servo motor 3 works, and the output end of the servo motor 3 drives the bevel gear 14 to rotate. The bevel gear 14 drives the main synchronous pulley 9 to rotate through the transmission shaft 11. The active synchronous pulley drives the driven synchronous pulley 10 to rotate through the transmission belt. The driven synchronous pulley 10 drives the two front-drive magnetic rollers 7 to rotate through the spindle 15, so that the entire magnetic adsorption robot can move on the surface of the hull. The high-pressure water in the high-pressure water pipe is sprayed through the rotary pipe 27 and the spray bottom pipe 29 through the nozzle 35 to clean the surface of the hull.

[0034] The above are merely embodiments of this utility model. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, based on the guidance provided in this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of this utility model. These should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent.

Claims

1. A magnetic adsorption cleaning robot, characterized in that: The device includes a chassis frame, multiple magnetic wheels mounted on the outer wall of the chassis frame, and a sealed outer shell covering the chassis frame. Two servo motors are fixedly connected to the inner wall of the chassis frame and installed inside the sealed outer shell. The output ends of the two servo motors are respectively connected to drive components for driving the magnetic wheels. A camera vision component for monitoring the working environment is installed on the sealed outer shell. A mounting plate is also fixedly connected to the outer side of the chassis frame. The mounting plate extends out of the chassis frame and a cleaning component is installed at its end.

2. The magnetic adsorption cleaning robot as described in claim 1, characterized in that: The plurality of magnetic chucks includes two front-drive magnetic chucks and two rear-drive magnetic chucks.

3. The magnetic adsorption cleaning robot as described in claim 2, characterized in that: The drive assembly includes a main synchronous pulley, a transmission belt, and a driven synchronous pulley. A transmission shaft is fixedly connected to the main synchronous pulley, and a main bearing is fitted onto the transmission shaft. A main bearing housing is correspondingly fitted onto the main bearing and is fixedly mounted on a sealed housing. A bevel gear is fixedly mounted on the end of the transmission shaft away from the main synchronous pulley. A spindle is fixedly connected to the driven synchronous pulley, and a front drive magnetic pulley is fixedly connected to the end of the spindle away from the driven synchronous pulley. A driven bearing is fitted onto the spindle, and a driven bearing housing is correspondingly fitted onto the driven bearing and is fixedly mounted on the sealed housing.

4. The magnetic adsorption cleaning robot as described in claim 3, characterized in that: The main synchronous pulley and the driven synchronous pulley are covered with protective covers, which are fixedly installed on the sealed housing. A first sealing ring is provided between the protective cover and the main bearing housing and the driven bearing housing.

5. The magnetic adsorption cleaning robot as described in claim 4, characterized in that: The photographic vision component includes a camera, a transparent glass cover on the front of the camera, and a housing for fixing the transparent glass. The housing is fixedly installed on a sealed housing. The camera is located inside the sealed housing. A fixing bracket is provided on the inner wall of the sealed housing for fixing the camera. A second sealing ring is provided between the housing and the sealed housing.

6. The magnetic adsorption cleaning robot as described in claim 5, characterized in that: The cleaning assembly includes a cleaning disc and a connector fixedly connected to the outside of the cleaning disc. The connector includes a base housing and a third sealing ring and a rotating tube disposed inside the base housing. One end of the rotating tube passes through the base housing and is provided with a rotating joint. The other end of the rotating tube is connected to a spray bottom tube, and the end of the spray bottom tube is provided with a nozzle.

7. The magnetic adsorption cleaning robot as described in claim 6, characterized in that: The inner wall of the sealed outer casing is also provided with a sealing strip.

8. The magnetic adsorption cleaning robot as described in claim 7, characterized in that: The sealed housing has an aviation socket on its side wall and an antenna on its top.

9. The magnetic adsorption cleaning robot as described in claim 8, characterized in that: Two hooks and two handles are also fixedly installed on both sides of the chassis frame.

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