A device suitable for cleaning the exterior of large capsules

Abstract

The utility model discloses a device suitable for large -scale cabin body outside cleaning, it includes cleaning frock, long arm exhibition collaboration robot and integrated rack table. The cleaning frock is located the execution end of long arm exhibition collaboration robot, and the fixed end of long arm exhibition collaboration robot is located the upper end surface of integrated rack table, and the cleaning frock includes cleaning plate, cleaning drive source and cleaning brush, and the cleaning plate is T shape, and two side -by -side arrangement cleaning brush is installed in one side of cleaning plate through synchronous wheel side by side, and synchronous wheel is rotatably connected with the bearing of connecting shaft and seat, and the fixed end of cleaning drive source is fixed to the side of cleaning plate away from cleaning brush, and the output of cleaning drive source is fixedly connected with driving wheel, and driving wheel and synchronous wheel are located the same side of cleaning plate. The utility model solves the technical problem of cleaning difficulty, the obvious technical problem of limitation in the technical field of large -scale cabin body outside cleaning.

Description

Technical Field

[0001] This utility model relates to the field of external cleaning technology for large cabins, and specifically to a device suitable for external cleaning of large cabins. Background Technology

[0002] In high-end equipment fields such as aerospace, deep-sea exploration, and energy storage, large capsule-shaped hulls are widely used as core load-bearing structures. Their diameters typically range from several meters to over ten meters, and their top height often exceeds the reach of ordinary workers. Furthermore, their outer surfaces are often characterized by continuous, rounded transitions. These hulls are exposed to outdoor environments or special working conditions for extended periods, making their outer surfaces prone to accumulating dust, oil, corrosive media, and biological contaminants. This not only affects the cleanliness of the equipment's appearance but can also lead to decreased heat exchange efficiency, accelerated structural corrosion, and even interference with the normal operation of sensors on the hull surface, posing a potential threat to the safe operation of the equipment. Therefore, regularly and thoroughly cleaning the exterior of the hull is a crucial maintenance step to ensure stable equipment performance. Current cleaning methods commonly used in the industry suffer from significant limitations and high cleaning difficulty: workers must use scaffolding, ladders, and other equipment to build temporary work platforms and manually clean using handheld brushes or high-pressure water guns. Because the cabin surface is curved, traditional tools struggle to conform to the curved surface for even cleaning, easily creating blind spots. Furthermore, working at height restricts the flexibility of personnel movement and operation, significantly extending the cleaning time per session and posing safety hazards such as falls and tool drops. With modern industry demanding higher levels of production safety and efficiency, and with continuously rising labor costs, this traditional manual cleaning model is no longer sufficient to meet the needs of large-scale, standardized equipment maintenance. Utility Model Content

[0003] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide a device suitable for cleaning the exterior of large cabins, thereby solving the technical problems of high cleaning difficulty and significant limitations of traditional cleaning solutions in the field of exterior cleaning of large cabins.

[0004] To achieve the above-mentioned technical objectives, the present invention provides a device suitable for external cleaning of large cabins, comprising: The system comprises a cleaning fixture, a long-arm collaborative robot, and an integrated frame. The cleaning fixture is mounted on the execution end of the long-arm collaborative robot. The fixed end of the long-arm collaborative robot is mounted on the upper surface of the integrated frame. The cleaning fixture includes a cleaning plate, a cleaning drive source, and cleaning brushes. The cleaning plate is T-shaped. Two cleaning brushes arranged side by side are mounted side by side on one side of the cleaning plate via synchronous wheels. The synchronous wheels are rotatably connected to a bearing with a mounting bracket via a connecting shaft. The fixed end of the cleaning drive source is fixed to the side of the cleaning plate opposite to the cleaning brushes. The output end of the cleaning drive source is fixedly connected to a drive wheel. The drive wheel and the synchronous wheel are located on the same side of the cleaning plate.

[0005] Compared with the prior art, the beneficial effects of this utility model include: 1. Improved Cleaning Efficiency and Quality: The long-arm collaborative robot has six joints, allowing for flexible posture switching. Combined with the mobility of the trackless electric flatbed, it can easily reach all parts of large cabins, effectively avoiding cleaning blind spots. The cleaning tool is equipped with cleaning brushes, cleaning nozzles, and cleaning water jets. The cleaning nozzles use two-fluid nozzles to atomize the liquid, expanding the cleaning range and reducing water consumption; the cleaning water jets use air to blow away any overflow water after cleaning. The synergistic effect of these multiple cleaning methods enhances the cleaning result.

[0006] 2. Enhanced operational safety: This device eliminates the need for manual climbing, fundamentally reducing such safety risks; the trackless electric flatbed is equipped with lidar at the front and rear, and when an obstacle (including a person) is detected in the corresponding direction, the corresponding movement button will be disabled; safety indicator lights and alarms are installed around the perimeter to promptly remind surrounding personnel to pay attention to safety, further ensuring the safety of the working environment.

[0007] 3. Enhanced ease of operation and flexibility: The entire device is integrated onto a trackless electric flatbed cart, which has a built-in high-capacity lithium battery and inverter. The outer surface is fully covered with a waterproof coating, allowing it to move freely and adapt to cleaning needs in different locations. The manual operation side of the trackless electric flatbed cart is equipped with a touch screen with a transparent waterproof cover, which can adjust the vehicle's forward and turning speeds as well as radar parameters. The button box on the integrated frame includes a manual start knob for the liquid pump, a water shortage indicator light, and an emergency stop button, facilitating operation and monitoring by the operator. Attached Figure Description

[0008] Figure 1 This is a three-dimensional structural diagram of the cleaning fixture provided by this utility model; Figure 2 This is an exploded structural diagram of the cleaning fixture provided by this utility model; Figure 3 This is a three-dimensional structural diagram of the device for cleaning the exterior of a large cabin provided by this utility model; Figure 4 This is a three-dimensional structural diagram of the integrated frame provided by this utility model; Figure 5 This is a schematic diagram of the cleaning path at a single point of the device for cleaning the exterior of a large cabin provided by this utility model. Detailed Implementation

[0009] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0010] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0011] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0012] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 This embodiment provides an apparatus suitable for cleaning the exterior of large cabins, including a cleaning fixture 1, a long-arm collaborative robot 2, and an integrated platform 3.

[0013] Furthermore, the cleaning fixture 1 is set at the execution end of the long-arm collaborative robot 2, and the fixed end of the long-arm collaborative robot 2 is set on the upper surface of the integrated frame 3. The long-arm collaborative robot 2 has a total of 6 joints and can flexibly switch postures to clean every corner.

[0014] Furthermore, the integrated frame 3 is constructed entirely of high-strength aluminum profiles, with a high-strength aluminum plate on the top surface, ensuring strength while effectively reducing weight. All six sides are waterproofed with rubber pads. The side closest to the water tank is made detachable, with a handle added to the outer panel, and the waterproof pad on this side is adhered to the inside of the panel using special waterproof adhesive for easy removal.

[0015] Furthermore, the cleaning fixture 1 includes a cleaning plate 11, a cleaning drive source 12, and cleaning brushes 13. The cleaning plate 11 is T-shaped, and two cleaning brushes 13 arranged side by side are mounted side by side on one side of the cleaning plate 11 via a synchronous wheel 14. The synchronous wheel 14 is rotatably connected to a bearing 16 with a mounting seat via a connecting shaft 15. The fixed end of the cleaning drive source 12 is fixed to the side of the cleaning plate 11 away from the cleaning brushes 13, and the output end of the cleaning drive source 12 is fixedly connected to a drive wheel 17. The drive wheel 17 and the synchronous wheel 14 are located on the same side of the cleaning plate 11.

[0016] Furthermore, since aluminum naturally forms a very thin oxide film (Al2O3) in the air, which can isolate air and moisture and initially resist corrosion, the cleaning plate 11 is made of aluminum. At the same time, because the artificial oxide film has a dense structure and controllable porosity, it can more effectively isolate corrosive substances such as water, dust, and cleaning agents, preventing the installation plate from being corroded by long-term contact with a humid environment. The hardness of the oxide film can reach HV300-500 (about 3-5 times that of ordinary aluminum plates), which can resist friction and collision during installation / disassembly, reduce scratches and deformation, and extend service life. Therefore, its surface is sprayed and anodized to form an artificial oxide film.

[0017] Preferably, the cleaning drive source 12 is a pneumatic drive source.

[0018] Furthermore, the two synchronous pulleys 14 are located on both sides of the driving pulley 17, the bearing 16 is fixedly connected to the cleaning plate 11, the outer wall of the driving pulley 17 is provided with two sets of driving transmission teeth 17A, the outer wall of the synchronous pulley 14 is provided with a set of driven transmission teeth 14A, the synchronous pulley 14 is drivenly connected to the driving pulley 17 through a synchronous belt 18, wherein the inner teeth of the synchronous belt 18 mesh with the driving transmission teeth 17A and the driven transmission teeth 14A.

[0019] Furthermore, when the cleaning drive source 12 is working, it drives the drive wheel 17 to rotate. Under the action of the synchronous belt 18, the drive wheel 17 drives the synchronous wheel 14 to rotate, thereby driving the cleaning brush 13 to rotate and clean the outer surface of the large cabin.

[0020] Furthermore, the cleaning brush 13 is provided with cleaning nozzles 19 at its upper and lower ends, and the fixed ends of the cleaning nozzles 19 are fixedly connected to the cleaning plate 11 through connecting rods 20. The cleaning brush 13 is provided with cleaning water blades 21 at its left and right ends, and the cleaning water blades 21 are fixedly connected to the cleaning plate 11 through L-shaped connecting plates 22.

[0021] Preferably, the cleaning nozzle 19 is a two-fluid nozzle, that is, one end is filled with compressed air and the other end is filled with liquid. The compressed air is used to atomize the liquid, and the water flow is atomized at the same time to increase its cleaning range and reduce water consumption.

[0022] Furthermore, the input end of the cleaning water jet 21 is connected to an air pipe, and the cleaning water jet 21 uses air to blow away the overflow water on the surface of the tank after cleaning.

[0023] Furthermore, the large cabin exterior cleaning device also includes a trackless electric flatbed cart 4 and a water tank 5. The integrated frame 3 and the water tank 5 are both located on the upper end of the trackless electric flatbed cart 4. A liquid pump 6 is also installed on the upper surface of the trackless electric flatbed cart 4. To prevent water damage, a raised plate is installed at the bottom of the liquid pump 6, and a protective cover is added to the motor section. The mounting plate 31 of the integrated frame 3 is equipped with a liquid pump speed controller 31, a ventilation fan 33, a pressure regulating valve 34, a dual-unit assembly 35, a teaching pendant placement box 36, a button box 37, and a water baffle 38. The mounting plate 31 is made of stainless steel with a waterproof coating.

[0024] Furthermore, the trackless electric flatbed cart 4 has a built-in high-capacity lithium battery and inverter; its outer surface is fully coated with a waterproof coating; the socket on its top provides 220V AC power to power the robot control cabinet, the liquid pump 6, and other electrical appliances. The trackless electric flatbed cart 4 also has a fully coated waterproof coating, and a touchscreen is installed on the manually operated side, protected by a transparent waterproof cover. The cover's frame uses the same material and coating as the cart itself and is hinged to the cart for easy opening. The touchscreen allows adjustment of the cart's forward and turning speeds, as well as radar parameters. The trackless electric flatbed cart 4 is equipped with lidar at the front and rear; when an obstacle, including a person, is detected in the corresponding direction, the corresponding movement button is disabled. Safety indicator lights and alarms are installed around the trackless electric flatbed cart 4.

[0025] Furthermore, the liquid pump speed controller 31 is installed near the liquid pump 6 to facilitate pipeline simplicity. The liquid pump speed controller 31 has a speed memory function; after adjustment, it can be started and stopped via a signal transmitted from the robot. Because the platform is waterproof and sealed on all six sides, to address the heat dissipation issue of the robot control cabinet, the ventilation fan 33 is added to accelerate airflow and improve heat dissipation.

[0026] Furthermore, the pressure regulating valve 34 and the dual assembly 35 are used to regulate the compressed gas input to the pneumatic actuator. The dual assembly 35 consists of a filter pressure regulating valve and an oil mist lubricator. The teach pendant placement box 36 is a bent steel plate, installed inside the mounting plate 31, with the installation position slightly downward to increase obstruction and prevent the teach pendant from falling.

[0027] Furthermore, the button box 37 includes a manual start knob for the liquid pump, a water shortage indicator light, and an emergency stop button.

[0028] Furthermore, the top of the mounting plate 31 is fitted with a baffle plate 38, which is tiltable to prevent water from flowing from above the platform to the aforementioned components.

[0029] Furthermore, the water storage tank 5 is equipped with an inlet, an outlet, and an overflow outlet. The outlet is connected to the liquid pump 6 via a water pipe, and multiple reducers are used due to different pipe diameters. A level sensor can be installed on one of these reducers to detect whether the water storage tank is low on water.

[0030] Furthermore, the bottom of the water storage tank 5 is provided with an air vent, which is connected to an elbow, an extension pipe and a valve, and the inside of the water inlet is connected to a float switch.

[0031] Furthermore, by utilizing the elbow, extension pipe, and valve to form a drainage system, the water that cannot be completely drained from the bottom outlet of the water storage tank 5 can be drained.

[0032] Furthermore, when the water storage tank 5 drains water through the inlet, if there is too much water inside, the float switch will be activated to close the inlet.

[0033] Furthermore, the water storage tank 5 is fixedly connected to the upper end of the trackless electric flatbed 4 via an aluminum plate bracket 7, wherein multiple aluminum plate brackets 7 are used as obstructions to limit the water storage tank 5 and raise the bottom of the water storage tank 5 to facilitate the installation of the drainage system.

[0034] Working Principle: The device for external cleaning of large cabins provided by this utility model includes a cleaning fixture 1, a long-arm collaborative robot 2, and an integrated frame 3. The cleaning fixture 1 is located at the execution end of the long-arm collaborative robot 2, and the fixed end of the long-arm collaborative robot 2 is located on the upper surface of the integrated frame 3. The cleaning fixture 1 includes a cleaning plate 11, a cleaning drive source 12, and cleaning brushes 13. The cleaning plate 11 is T-shaped, and two cleaning brushes 13 arranged side by side are mounted side by side on one side of the cleaning plate 11 via synchronous wheels 14. The synchronous wheels 14 are rotatably connected to a bearing 16 via a connecting shaft 15. The fixed end of the cleaning drive source 12 is fixed to the side of the cleaning plate 11 away from the cleaning brushes 13, and the output end of the cleaning drive source 12 is fixedly connected to a drive wheel 17. The drive wheel 17 and the synchronous wheel 14 are located on the same side of the cleaning plate 11.

[0035] Specifically, the trackless electric flatbed cart 4 moves the long-arm collaborative robot to the outer surface of the large cabin 8. The long-arm collaborative robot drives the cleaning brushes to adhere closely to the outer surface of the large cabin 8. The cleaning drive source, cleaning nozzles, and cleaning water jets are all activated to clean the outer surface of the large cabin 8. Simultaneously, the long-arm collaborative robot drives the cleaning fixture to move on the outer surface of the large cabin 8. The cleaning path for a single point is shown in the diagram below. Figure 5 As shown.

[0036] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A device suitable for cleaning the exterior of large cabins, characterized in that, include: The system comprises a cleaning fixture, a long-arm collaborative robot, and an integrated frame. The cleaning fixture is mounted on the execution end of the long-arm collaborative robot. The fixed end of the long-arm collaborative robot is mounted on the upper surface of the integrated frame. The cleaning fixture includes a cleaning plate, a cleaning drive source, and cleaning brushes. The cleaning plate is T-shaped. Two cleaning brushes arranged side by side are mounted side by side on one side of the cleaning plate via synchronous wheels. The synchronous wheels are rotatably connected to a bearing with a mounting bracket via a connecting shaft. The fixed end of the cleaning drive source is fixed to the side of the cleaning plate opposite to the cleaning brushes. The output end of the cleaning drive source is fixedly connected to a drive wheel. The drive wheel and the synchronous wheel are located on the same side of the cleaning plate.

2. The device for cleaning the exterior of large cabins according to claim 1, characterized in that, The two synchronous pulleys are located on both sides of the driving pulley; the belt bearing is fixedly connected to the cleaning plate; the outer wall of the driving pulley has two sets of driving transmission teeth; the outer wall of the synchronous pulley has a set of driven transmission teeth; the synchronous pulley is driven to the driving pulley through a synchronous belt, wherein the inner teeth of the synchronous belt mesh with the driving transmission teeth and the driven transmission teeth.

3. The apparatus for cleaning the exterior of large cabins according to claim 2, characterized in that, The cleaning brush has cleaning nozzles at its top and bottom ends; the fixed ends of the cleaning nozzles are fixedly connected to the cleaning plate via connecting rods; the cleaning brush has cleaning water jets at its left and right ends; the cleaning water jets are fixedly connected to the cleaning plate via L-shaped connecting plates.

4. The apparatus for external cleaning of large cabins according to claim 3, characterized in that, It also includes a trackless electric flatbed cart and a water tank; the integrated frame and the water tank are both located on the upper end of the trackless electric flatbed cart; a liquid pump is also installed on the upper end of the trackless electric flatbed cart; the integrated frame is equipped with a liquid pump, a liquid pump speed controller, a ventilation fan, a pressure regulating valve, a dual unit, a teaching pendant placement box, a button box, and a water baffle.

5. The apparatus for external cleaning of large cabins according to claim 4, characterized in that, The water storage tank is equipped with an inlet, an outlet, and an overflow outlet; the outlet is connected to the liquid pump via a water pipe; the bottom of the water storage tank has a vent; the vent is connected to an elbow, an extension pipe, and a valve; and a float switch is connected inside the inlet.

6. The apparatus for external cleaning of large cabins according to claim 5, characterized in that, The trackless electric flatbed cart has a built-in high-capacity lithium battery and inverter; the outer surface of the trackless electric flatbed cart is fully covered with waterproof coating; the cleaning plate is made of aluminum plate, and its surface is sprayed and anodized.

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