An explosion-proof liquid suction robot for a ship cabin

Abstract

The application discloses a kind of explosion-proof liquid suction robots for ship cabin in the technical field of explosion-proof cabin cleaning, to solve the problem of low efficiency and great harm to personal safety in the prior art.The robot includes: to prevent the risk of explosion caused by static electricity, the body is specially set for the built-in protection of various electronic components;Spark generated by mechanical friction is also a fire hazard, so the first fork arm and the second fork arm are set along the direction of the ground force received by the driving hub to support the body with gravity, reducing the probability of mechanical friction spark generated by the fork arm when driving bumping;In addition, a first damping spring shaft is provided, which can cooperate with the first fork arm and the second fork arm to reduce the degree of driving bumping;At the same time, the function separation of steering wheel and driving wheel is set, which avoids the concentration of steering and driving on the same hub system, thereby increasing the probability of mechanical friction spark;On this basis, the second damping spring shaft further reduces the bumping during steering.

Description

Technical Field

[0001] This invention relates to an explosion-proof liquid suction robot for ship cabins, belonging to the field of explosion-proof cabin cleaning technology. Background Technology

[0002] China has a large industrial scale and a correspondingly huge demand for chemicals, so it often uses special chemical tankers for transportation.

[0003] After each voyage, the ship's hold requires a thorough cleaning. Traditionally, this involves workers using handheld water guns to rinse the interior, followed by pumping out the liquid. However, a small amount of liquid often remains at the bottom of the hold, which cannot be completely removed by pumping. To address this, forced ventilation is typically used, utilizing evaporation to remove the residual liquid. However, this method presents two major problems. First, toxic or flammable gases may be present in the hold, posing a significant safety hazard to workers during forced ventilation. Second, low-lying areas may exist at the bottom of the hold, leading to significant liquid accumulation, which short-term forced ventilation may not be sufficient to completely remove.

[0004] Therefore, existing explosion-proof liquid absorption measures for ship cabins are inefficient and pose significant risks to personal safety. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide an explosion-proof liquid suction robot for ship cabins that improves explosion-proof liquid suction efficiency and eliminates personal injury hazards.

[0006] To achieve the above objectives, this application employs the following technical solution: This application provides an explosion-proof liquid suction robot for ship cabins, comprising, Organism; The drive wheel includes a drive hub and a column rotatably connected to the drive hub. The column is arranged along the direction of the ground force on the drive hub. A first fork arm and a second fork arm are respectively supported and connected at a certain distance on the column. The first fork arm and the second fork arm are also supported and connected to the machine body. A first damping spring shaft is connected at both ends to the second fork arm and the machine body respectively. The steering wheel includes a steering wheel hub, which is connected to the body via a second damping spring shaft.

[0007] In some embodiments of this application, the body is pre-equipped with an explosion-proof interface that matches the optical detection instrument assembly; The optical detection instrument assembly includes a threaded post for explosion-proof glass, the outer thread of which matches the inner thread of the explosion-proof interface; a first mounting groove is formed in the threaded post for explosion-proof glass, and a sealing gasket is placed between the explosion-proof glass and the groove wall of the first mounting groove; a second mounting groove is also formed in the optical detection instrument assembly, and a front cover for explosion-proof glass is embedded in the second mounting groove, the gap between the front cover for explosion-proof glass and the explosion-proof glass is filled and sealed by another sealing gasket.

[0008] In some embodiments of this application, The column is provided with at least three fisheye shafts along the direction of the ground force on the drive wheel hub. The first fork arm is rotatably connected to the column through one fisheye shaft, and the second fork arm is rotatably connected to the column through two fisheye shafts spaced at a certain distance. The machine body is provided with two fork arm lugs, which are used to rotatably connect with the first fork arm and the second fork arm, respectively. The drive wheel also includes a coupling, one end of which is connected to the drive component in the machine body, and the other end passes through the column and is connected to the drive wheel hub.

[0009] In some embodiments of this application, The first fork arm and the second fork arm are located on both sides of the coupling, and the second fork arm is closer to the ground than the first fork arm; The second fork arm is a hollow double-arm suspension, and the second fork arm is connected to the lifting block at the end near the column; there are at least two first damping spring shafts, which are rotatably connected to both ends of the lifting block; the first damping spring shafts are also rotatably connected to the machine body.

[0010] In some embodiments of this application, the steering wheel further includes an explosion-proof base, a connecting shaft is mounted on the explosion-proof base, one end of the connecting shaft away from the explosion-proof base is connected to the second damping spring shaft, the second damping spring shaft is connected to the first bracket, and the first bracket is used to mount the steering wheel hub; The steering wheel also includes a steering servo, which is mounted on the body and used to drive the explosion-proof base to rotate.

[0011] In some embodiments of this application, both axial ends of the steering hub are rotatably connected to the first bracket; there is a gap of a set distance between the wheel surface of the steering hub and the inner wall of the first bracket; The second damping spring shaft is capable of extending and retracting within the housing of the connecting shaft, with a gap of a set distance between the inner wall of the housing of the connecting shaft and the outer side of the second damping spring shaft.

[0012] In some embodiments of this application, a telescopic liquid suction mechanism is also included; The telescopic suction mechanism includes a scissor fork mechanism, an electric push rod for driving the scissor fork mechanism to perform telescopic movement, and a suction head located in the scissor fork mechanism; The electric push rod is mounted on the machine body via a push rod fixing plate; the electric push rod also includes a telescopic rod, the telescopic rod is fitted with an explosion-proof flange, and the telescopic rod is rotatably connected to the lever; The second bracket is fixedly connected to the machine body; the middle part of the lever is rotatably connected to the support rod, and the support rod is also rotatably connected to the second bracket; One hinged control end of the scissor fork arm of the scissor fork mechanism is hinged to the end of the lever opposite to the telescopic rod, while the other hinged control end of the scissor fork arm is hinged to the fixed rod, which is fixedly connected to the second bracket.

[0013] In some embodiments of this application, an L-shaped structure is formed between the second bracket and the fixed rod, the fixed rod and the support rod are respectively located at both ends of the second bracket, and the fixed rod is closer to the ground than the second bracket; The lever has a T-shaped structure, and the connection point between the lever and the support rod is away from the ground. The electric push rod is located on the side of the second bracket away from the ground, and the extension and retraction direction of the telescopic rod is parallel to the ground; The suction head is located at the end of the scissor arm away from the two control ends and on the side of the scissor arm closer to the ground.

[0014] In some embodiments of this application, a liquid storage device is also included, which is installed on the side of the machine body facing away from the ground; The liquid storage device includes a water tank body, a slide bar, and a slide groove that can slide relative to the slide bar. One of the slide bar and the slide groove is installed on the side of the water tank body near the machine body, and the other is installed on the side of the machine body near the water tank body. The water tank body is located on the side opposite to the machine body, and is equipped with a hose connector and a breather valve. The hose connector is connected to the liquid suction head through a hose. The water tank body is also equipped with a level gauge, which includes a wiring port for outputting level data. The wiring port is coupled to the communication module inside the machine body through an anti-static cable. It also includes an explosion-proof bolt for fixing the level gauge to the machine body. The level gauge also has a boss at one end near the machine body to control the screwing limit of the explosion-proof bolt. The water tank body is equipped with a drain valve on the side closest to the machine body.

[0015] In some embodiments of this application, the forward direction of the machine body is provided with an optical detection instrument assembly and an illumination device facing the same direction as the optical detection instrument assembly; the machine body is also provided with laser sensors on both sides in the forward direction; the machine body is also provided with an antenna, and the laser sensors and the optical detection instrument assembly are also coupled to the communication module, and the communication module transmits and receives signals through the antenna; The machine body also has a water pump, which is used to generate a flow tendency from the suction head to the hose connector in the hose, and the signal terminal of the water pump is also coupled to the communication module.

[0016] Compared with the prior art, the beneficial effects achieved by this application are as follows: The explosion-proof liquid-absorbing robot for ship cabins provided in this application has a body as its core component. To prevent the risk of explosion caused by static electricity, the body is specially designed with built-in protection for various electronic components. Sparks generated by mechanical friction are also a fire hazard. Therefore, a first fork arm and a second fork arm are set along the direction of the ground force on the drive wheel hub to provide gravity support for the body, distributing the support load and reducing the probability of mechanical friction sparks generated by the fork arms during bumpy driving. In addition, a first damping spring shaft that can cooperate with the first and second fork arms is also provided to further reduce the degree of bumpy driving. At the same time, the functions of the steering wheel and the drive wheel are separated to avoid the steering and drive being concentrated on the same wheel hub system, which would increase the probability of mechanical friction sparks. On this basis, the second damping spring shaft further reduces the bumps during steering. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram of the explosion-proof liquid suction robot for ship cabins provided in this embodiment; Figure 2 yes Figure 1 Schematic diagram of the telescopic liquid suction mechanism; Figure 3 yes Figure 1 Schematic diagram of the intermediate liquid storage device; Figure 4 yes Figure 1 Schematic diagram of the drive wheel structure; Figure 5 yes Figure 1 A schematic diagram of the structure of the steering wheel; Figure 6 yes Figure 2 Schematic diagram of the cross-sectional structure of the explosion-proof flange; Figure 7 yes Figure 1 A color structural diagram of the optical detection instrument assembly; In the diagram: 1. Main body; 2. Telescopic liquid suction mechanism; 3. Liquid storage device; 4. Drive wheel; 5. Steering wheel; 6. Optical detection instrument assembly; 7. Lighting device; 8. Laser sensor; 9. Water pump; 10. Antenna; 21. Push rod fixing plate; 22. Electric push rod; 23. Explosion-proof flange; 24. Telescopic rod; 25. Scissor fork mechanism; 26. Suction head; 251. Lever; 252. Support rod; 253. Second bracket; 254. Fixing rod; 255. Scissor fork arm; 31. Water tank body; 32. Drain valve; 33. Level gauge; 34. Hose connector; 35. Breather valve; 36. Sliding bar; 37. Slide groove; 331. Explosion-proof bolt; 332. Wiring port; 333. Boss; 41. Drive hub; 42. Coupling; 43. Hollow double-wishbone suspension; 44. First damping spring shaft; 431. First wishbone; 432. Second wishbone; 433. Wishbone lug; 434. Column; 435. Fisheye shaft; 436. Lifting block; 51. Steering wheel hub; 52. First bracket; 53. Second damping spring shaft; 54. Connecting shaft; 55. Explosion-proof base; 56. Steering servo; 631. Explosion-proof glass threaded post; 632. Explosion-proof glass front cover; 633. Explosion-proof glass; 634. Sealing gasket. Detailed Implementation

[0019] The technical solutions of this application / the embodiments thereof will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application / the embodiments thereof, and not all embodiments thereof. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application / the application thereof or its application or use. Example 1

[0020] This embodiment provides an explosion-proof liquid suction robot for ship cabins to solve the problems of low efficiency and high personal injury risk in existing explosion-proof liquid suction measures for ship cabins.

[0021] refer to Figures 1 to 7 The explosion-proof liquid suction robot for ship cabins provided in this embodiment includes, Body 1; The drive wheel 4 includes a drive hub 41 and a column 434 rotatably connected to the drive hub 41. The column 434 is arranged along the direction of the ground force on the drive hub 41. The first fork arm 431 and the second fork arm 432 are supported and connected at certain intervals on the column 434. The first fork arm 431 and the second fork arm 432 are also supported and connected to the body 1. The first damping spring shaft 44 has two ends connected to the second fork arm 432 and the body 1, respectively. Steering wheel 5 includes steering wheel hub 51, which is connected to body 1 via second damping spring shaft 53.

[0022] The robot body 1 is the core component. To prevent the risk of explosion caused by static electricity, the body 1 is specially designed with built-in protection for various electronic components. Sparks generated by mechanical friction are also a fire hazard. Therefore, the first fork arm 431 and the second fork arm 432 are set along the direction of the ground force on the drive wheel hub 41 to provide gravity support for the body 1, which distributes the support load and reduces the probability of mechanical friction sparks generated by the fork arms when driving bumps. In addition, a first damping spring shaft 44 that can cooperate with the first fork arm 431 and the second fork arm 432 is also set to further reduce the degree of driving bumps. At the same time, the functions of the steering wheel 5 and the drive wheel 4 are separated to avoid the steering and drive being concentrated on the same wheel hub system, which would increase the probability of mechanical friction sparks. On this basis, the second damping spring shaft 53 further reduces the bumps during the steering process.

[0023] Therefore, the explosion-proof liquid suction robot for ship cabins provided in this embodiment reduces the risk of static electricity generated by electronic devices coming into contact with the outside world by integrating the body 1, the first fork arm 431 and the second fork arm 432 share the load to reduce the probability of mechanical friction sparks, and the first damping spring shaft 44 and the second damping spring shaft 53 also have the same effect of buffering the body 1. Example 2

[0024] This embodiment provides an explosion-proof liquid suction robot for ship cabins. This embodiment is an optimization based on Embodiment 1 to improve the technical effect and refine the technical solution. For details not described in this embodiment, please refer to Embodiment 1.

[0025] It is worth noting that the first damping spring shaft 44 and the second damping spring shaft 53 can be implemented using an inner shaft and an outer spring.

[0026] As one embodiment, reference Figure 1 and Figure 7 The main body 1 is pre-installed with an explosion-proof interface that matches the optical detection instrument assembly 6; The optical detection instrument assembly 6 includes a explosion-proof glass threaded post 631, the outer thread of which matches the inner thread of the explosion-proof interface; a first mounting groove is formed in the explosion-proof glass threaded post 631, and an explosion-proof glass 633 is embedded in the first mounting groove, with a sealing gasket 634 placed between the explosion-proof glass 633 and the groove wall of the first mounting groove; a second mounting groove is also formed in the optical detection instrument assembly 6, and an explosion-proof glass front cover 632 is embedded in the second mounting groove, with the gap between the explosion-proof glass front cover 632 and the explosion-proof glass 633 being filled and sealed by another sealing gasket 634.

[0027] In addition to the functions of the explosion-proof glass threaded post 631 and the explosion-proof glass 633 themselves, the matching connection between the outer thread of the explosion-proof glass threaded post 631 and the inner thread of the explosion-proof interface can improve the sealing performance and reduce the probability of the internal static electricity of the optical detection instrument assembly 6 coming into contact with external flammable gases.

[0028] The first and second mounting slots can be used to securely fix the positions of the explosion-proof glass 633 and the explosion-proof glass front cover 632, thereby applying pressure to the two sealing gaskets 634. The sealing gaskets 634 under pressure have a better sealing effect, reducing the probability of the internal static electricity of the optical detection instrument assembly 6 coming into contact with external flammable gas.

[0029] As one embodiment, instruments such as cameras, laser rangefinders, and spectrometers can be installed on the inside of the explosion-proof glass 633.

[0030] refer to Figure 1 and Figure 4 As one embodiment, the column 434 is provided with at least three fisheye shafts 435 along the direction of the ground force on the drive hub 41. The first fork arm 431 is rotatably connected to the column 434 through a fisheye shaft 435, and the second fork arm 432 is rotatably connected to the column 434 through two fisheye shafts 435 spaced at a certain distance. The body 1 is provided with two fork arm lugs 433, which are used to rotatably connect with the first fork arm 431 and the second fork arm 432 respectively; The drive wheel 4 also includes a coupling 42, one end of which is connected to the drive component in the body 1, and the other end passes through the column 434 and is connected to the drive wheel hub 41.

[0031] The first fork arm 431 and the second fork arm 432 are located on both sides of the coupling 42, and the second fork arm 432 is closer to the ground than the first fork arm 431. The second wishbone 432 is a hollow double-arm suspension 43. The second wishbone 432 is connected to the lifting block 436 at the end near the column 434. There are at least two first damping spring shafts 44, which are rotatably connected to both ends of the lifting block 436 respectively. The first damping spring shafts 44 are also rotatably connected to the body 1.

[0032] Because the second fork arm 432 is closer to the ground than the first fork arm 431, it is subject to a greater load and therefore needs to be movably connected to the column 434 via two fisheye shafts 435. In addition, the multi-degree-of-freedom motion and low-friction design of the fisheye shafts 435 can ensure the mobility of the drive wheel 4 while reducing the probability of mechanical friction, static electricity, and sparks.

[0033] The fork arm lug 433 facilitates the connection between the first fork arm 431 and the second fork arm 432, thereby improving structural stability.

[0034] Setting the first fork arm 431 and the second fork arm 432 to be distributed on the upper and lower sides of the coupling 42 can evenly distribute the load from both sides of the coupling 42.

[0035] The second wishbone 432 uses a hollow double-wishbone suspension 43. The central control structure of the hollow double-wishbone suspension 43 can improve the torsional resistance, and the hollow double-wishbone suspension 43 is relatively wide and has a stronger load-bearing capacity.

[0036] Through the mediating action of the lifting block 436, the bumps generated on the second fork arm 432 are absorbed and eliminated by the first damping spring shafts 44 on both sides, thereby reducing the probability of electrostatic sparks generated by mechanical friction.

[0037] As one embodiment, reference Figure 1 , Figure 5 and Figure 6 The drive wheel 5 also includes an explosion-proof base 55, a connecting shaft 54 ​​is mounted on the explosion-proof base 55, and one end of the connecting shaft 54 ​​away from the explosion-proof base 55 is connected to the second damping spring shaft 53. The second damping spring shaft 53 is connected to the first bracket 52, and the first bracket 52 is used to mount the steering wheel hub 51. The drive wheel 5 also includes a steering servo 56, which is mounted on the body 1 and used to drive the explosion-proof base 55 to rotate.

[0038] In one embodiment, the signal terminal of the steering servo 56 is coupled to the communication module inside the body 1.

[0039] The explosion-proof base 55 provides a certain pressure-bearing and explosion-proof function, and together with the shock-absorbing and buffering function of the second damping spring shaft 53, it can suppress the occurrence of mechanical electrostatic friction to the greatest extent.

[0040] In one embodiment, both ends of the steering hub 51 are rotatably connected to the first bracket 52; there is a gap of a set distance between the wheel surface of the steering hub 51 and the inner wall of the first bracket 52. The second damping spring shaft 53 can extend and retract within the housing of the connecting shaft 54, with a gap of a set distance between the inner wall of the housing of the connecting shaft 54 ​​and the outer side of the spring of the second damping spring shaft 53.

[0041] A predetermined gap exists between the wheel surface of the steering hub 51 and the inner wall of the first bracket 52 to prevent friction between them. During vibration damping, the second damping spring shaft 53 undergoes telescopic movement. The sleeve of the connecting shaft 54 ​​protects the second damping spring shaft 53 from excessive external corrosion, and the predetermined gap between the sleeve and the outer side of the second damping spring shaft 53 prevents friction between them.

[0042] As one embodiment, reference Figure 1 and Figure 2 , including the telescopic liquid suction mechanism 2; The telescopic suction mechanism 2 includes a scissor fork mechanism 25, an electric push rod 22 for driving the scissor fork mechanism 25 to perform telescopic movement, and a suction head 26 located in the scissor fork mechanism 25. The electric push rod 22 is mounted on the machine body 1 via the push rod fixing plate 21; the electric push rod 22 also includes a telescopic rod 24, the telescopic rod 24 is fitted with an explosion-proof flange 23, and the telescopic rod 24 is rotatably connected to the lever 251. The second bracket 253 is fixedly connected to the body 1; the middle part of the lever 251 is rotatably connected to the support rod 252, and the support rod 252 is also rotatably connected to the second bracket 253; One hinged control end of the scissor fork arm 255 of the scissor fork mechanism 25 is hinged to one end of the lever 251 away from the telescopic rod 24, while the other hinged control end of the scissor fork arm 255 is hinged to the fixed rod 254, and the fixed rod 254 is fixedly connected to the second bracket 253.

[0043] The explosion-proof flange 23 is used to control the retraction limit of the telescopic rod 24 and has explosion-proof capability.

[0044] Due to the robot's unique structure and the high integration of its body 1, the electric push rod 22 and the scissor fork mechanism 25 can only be arranged in a staggered vertical position. (Refer to...) Figure 2 The arrow indicates that lever 251 is the key medium for converting the telescopic motion of telescopic rod 24 into the telescopic motion of scissor fork mechanism 25. To achieve this function, lever 251 is hinged at both ends to one hinged control end of telescopic rod 24 and scissor fork arm 255, and connected to the second support 253 in the middle. However, to ensure that the degree of freedom of lever 251 is not affected, support rod 252 serves as the connection medium between the middle of lever 251 and the second support 253. Both ends of support rod 252 are hinged to the middle of lever 251 and the second support 253 respectively to satisfy the interactive degree of freedom of lever 251.

[0045] The fixed rod 254 is mainly used to compensate for the distance between the other hinged control end of the scissor fork arm 255 and the fixed rod 254.

[0046] Compared to the drive wheel 4 and the steering wheel 5, the telescopic liquid suction mechanism 2 has a lower position adjustment frequency and a lower probability of generating static electricity and sparks. Therefore, the risk of using the telescopic liquid suction mechanism 2 is not as high as imagined.

[0047] In one embodiment, an L-shaped structure is formed between the second bracket 253 and the fixed rod 254, with the fixed rod 254 and the support rod 252 located at the two ends of the second bracket 253 respectively, and the fixed rod 254 being closer to the ground than the second bracket 253. Lever 251 has a T-shaped structure, and the connection point between lever 251 and support rod 252 is away from the ground; The electric push rod 22 is located on the side of the second bracket 253 away from the ground, and the extension and retraction direction of the telescopic rod 24 is parallel to the ground; The suction head 26 is located at the end of the scissor arm 255 away from the two control ends and on the side of the scissor arm 255 closer to the ground.

[0048] The second bracket 253 and the fixed rod 254 form an L-shaped structure, which makes the distance between the two hinged control ends of the scissor fork arm 255 far enough to reduce the range of motion required to control the extension and retraction of the scissor fork arm 255.

[0049] By setting lever 251 to a T-shaped structure, the efficiency of the medium working of lever 251 is improved and the lever structure is optimized.

[0050] The electric push rod 22 is located on the side of the second bracket 253 away from the ground, protecting the electric push rod 22 and the lever 251.

[0051] The suction head 26 is located at the end of the scissor arm 255 away from the two control ends and on the side of the scissor arm 255 closer to the ground, which can maximize the suction range.

[0052] As one embodiment, reference Figure 1 and Figure 3 It also includes a liquid storage device 3, which is installed on the side of the body 1 away from the ground; The liquid storage device 3 includes a water tank body 31, a slide bar 36, and a slide groove 37 that can slide relative to the slide bar 36. One of the slide bar 36 and the slide groove 37 is installed on the side of the water tank body 31 close to the machine body 1, and the other is installed on the side of the machine body 1 close to the water tank body 31. The water tank body 31 is located on the side opposite to the machine body 1, and is equipped with a hose connector 34 and a breather valve 35. The hose connector 34 is connected to the suction head 26 through a hose. The water tank body 31 is also equipped with a level gauge 33. The level gauge 33 includes a wiring port 332 for outputting level data. The wiring port 332 is coupled to the communication module inside the body 1 through an anti-static cable. It also includes an explosion-proof bolt 331 for fixing the level gauge 33 to the body 1. The level gauge 33 also has a boss 333 at one end near the body 1 to control the screwing limit of the explosion-proof bolt 331. A drain valve 32 is provided on the side of the water tank body 31 near the machine body 1.

[0053] The liquid storage device 3 is installed on the side of the body 1 facing away from the ground, so that the robot can extract liquid from the liquid storage device 3 after it leaves the ship's interior.

[0054] The sliding bar 36 and the sliding groove 37 enable a detachable connection between the water tank body 31 and the main body 1.

[0055] The hose connector 34 and the breather valve 35 are positioned on the side of the water tank 31 away from the machine body 1 to facilitate liquid filling from top to bottom and avoid conflict with the drain valve 32. The drain valve 32 is located at the bottom of the water tank 31 for easy drainage. The breather valve 35 is used to maintain pressure balance inside the water tank 31.

[0056] The liquid absorbed by the suction head 26 is injected into the water tank body 31 through the hose and hose connector 34.

[0057] The level gauge 33 is used to detect the remaining capacity of the water tank 31. However, as an electronic component, the level gauge 33 poses a potential safety risk. Therefore, in this embodiment, the level gauge 33 is fixedly installed using explosion-proof bolts 331 to reduce the risk. In addition, the boss 333 can prevent the explosion-proof bolts 331 from being excessively screwed in.

[0058] As one embodiment, reference Figure 1 The body 1 is provided with an optical detection instrument assembly 6 and an illumination device 7 facing the same direction as the optical detection instrument assembly 6 in the forward direction; the body 1 is also provided with laser sensors 8 on both sides in the forward direction; the body 1 is also provided with an antenna 10, and the laser sensors 8 and the optical detection instrument assembly 6 are also coupled to the communication module, and the communication module transmits and receives signals through the antenna 10. The body 1 also has a water pump 9, which is used to generate a flow tendency from the suction head 26 to the hose connector 34 in the pipeline. The signal end of the water pump 9 is also coupled to the communication module.

[0059] Laser sensor 8 is used to assess the accessibility of the environment in which the machine body 1 is located. Antenna 10 is used to transmit detected signals, the remaining capacity of water tank 31, and to receive control commands to the outside world. Water pump 9 is connected in series with a hose for pumping.

[0060] The explosion-proof liquid suction robot for ship cabins provided in this embodiment meets the explosion-proof requirements of Class IIC electrical equipment. It can accurately locate, efficiently suck up and safely store residual liquids in flammable and explosive environments, greatly reducing the risks of manual cleaning and improving work efficiency.

[0061] In one embodiment, the casing of the body 1 is divided into an upper casing and a lower casing. The lower casing is narrower than the upper casing. The drive wheel 4 and the steering wheel 5 are located in the lower casing to save space. The casing wall thickness is 6mm, the explosion-proof mating surface length is 25mm, the thread pitch is not less than 0.7mm, and the casing is provided with honeycomb-shaped reinforcing ribs. The drive wheel 4 is located on both sides of the body 1, while the steering wheel 5 is located separately in the forward direction.

[0062] In one embodiment, the explosion-proof glass 633 is not less than 8mm thick, and the laser sensor 8 is also fixed through an explosion-proof interface and is also equipped with explosion-proof glass 633 of the same specification.

[0063] As one embodiment, the body 1 is also provided with a multi-parameter monitoring module, which integrates temperature, humidity and gas concentration sensors.

[0064] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0065] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "located in," "equipped with," "located in," "installed," "set," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances. "Hinged connection" includes "rotational connection."

[0066] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An explosion-proof liquid suction robot for ship cabins, characterized in that, include, Body (1); The drive wheel (4) includes a drive hub (41) and a column (434) rotatably connected to the drive hub (41). The column (434) is arranged along the direction of the ground force on the drive hub (41). The column (434) is supported and connected to the first fork arm (431) and the second fork arm (432) at a certain distance. The first fork arm (431) and the second fork arm (432) are also supported and connected to the body (1). The first damping spring shaft (44) is connected at both ends to the second fork arm (432) and the body (1). Steering wheel (5), including steering wheel hub (51), said steering wheel hub (51) is connected to the body (1) via a second damping spring shaft (53); It also includes a telescopic liquid suction mechanism (2); The telescopic suction mechanism (2) includes a scissor fork mechanism (25), an electric push rod (22) for driving the scissor fork mechanism (25) to perform telescopic movement, and a suction head (26) located in the scissor fork mechanism (25). The electric push rod (22) is installed on the body (1) via the push rod fixing plate (21); the electric push rod (22) also includes a telescopic rod (24), the telescopic rod (24) is fitted with an explosion-proof flange (23), and the telescopic rod (24) is rotatably connected to the lever (251); The second bracket (253) is fixedly connected to the body (1); the middle part of the lever (251) is rotatably connected to the support rod (252), and the support rod (252) is also rotatably connected to the second bracket (253); One hinged control end of the scissor fork arm (255) of the scissor fork mechanism (25) is hinged to one end of the lever (251) away from the telescopic rod (24), while the other hinged control end of the scissor fork arm (255) is hinged to the fixed rod (254), and the fixed rod (254) is fixedly connected to the second bracket (253).

2. The explosion-proof liquid suction robot for ship cabins according to claim 1, characterized in that, The body (1) is pre-installed with an explosion-proof interface that matches the optical detection instrument assembly (6); The optical detection instrument assembly (6) includes a fireproof glass threaded post (631), the outer thread of which matches the inner thread of the fireproof interface; a first mounting groove is formed in the fireproof glass threaded post (631), and a fireproof glass (633) is embedded in the first mounting groove, and a sealing gasket (634) is placed between the fireproof glass (633) and the groove wall of the first mounting groove; a second mounting groove is also formed in the optical detection instrument assembly (6), and a fireproof glass front cover (632) is embedded in the second mounting groove, and the gap between the fireproof glass front cover (632) and the fireproof glass (633) is filled and sealed by another sealing gasket (634).

3. The explosion-proof liquid suction robot for ship cabins according to claim 2, characterized in that, The column (434) is provided with at least three fisheye shafts (435) along the direction of the ground force on the drive hub (41). The first fork arm (431) is rotatably connected to the column (434) through a fisheye shaft (435), and the second fork arm (432) is rotatably connected to the column (434) through two fisheye shafts (435) spaced at a certain distance. The body (1) is provided with two fork arm lugs (433), which are used to rotatably connect with the first fork arm (431) and the second fork arm (432), respectively; The drive wheel (4) also includes a coupling (42), one end of which is connected to the drive component in the body (1) for transmission, and the other end passes through the column (434) and is connected to the drive wheel hub (41) for transmission.

4. The explosion-proof liquid suction robot for ship cabins according to claim 3, characterized in that, The first fork arm (431) and the second fork arm (432) are located on both sides of the coupling (42), and the second fork arm (432) is closer to the ground than the first fork arm (431); The second fork arm (432) is a hollow double-arm suspension (43), and the second fork arm (432) is connected to the lifting block (436) at one end near the column (434); there are at least two first damping spring shafts (44) and they are rotatably connected to both ends of the lifting block (436); the first damping spring shafts (44) are also rotatably connected to the body (1).

5. The explosion-proof liquid suction robot for ship cabins according to claim 2, characterized in that, The steering wheel (5) also includes an explosion-proof base (55), a connecting shaft (54) is mounted on the explosion-proof base (55), one end of the connecting shaft (54) away from the explosion-proof base (55) is connected to the second damping spring shaft (53), the second damping spring shaft (53) is connected to the first bracket (52), and the first bracket (52) is used to mount the steering wheel hub (51); The steering wheel (5) also includes a steering servo (56), which is mounted on the body (1) and is used to drive the explosion-proof base (55) to rotate.

6. The explosion-proof liquid suction robot for ship cabins according to claim 5, characterized in that, Both ends of the steering hub (51) are rotatably connected to the first bracket (52); there is a gap of a set distance between the wheel surface of the steering hub (51) and the inner wall of the first bracket (52); The second damping spring shaft (53) is able to extend and retract within the housing of the connecting shaft (54), and the inner wall of the housing of the connecting shaft (54) is spaced apart from the outer side of the spring of the second damping spring shaft (53) by a set distance.

7. The explosion-proof liquid suction robot for ship cabins according to claim 1, characterized in that, The second bracket (253) and the fixed rod (254) form an L-shaped structure. The fixed rod (254) and the support rod (252) are located at the two ends of the second bracket (253), and the fixed rod (254) is closer to the ground than the second bracket (253). The lever (251) has a T-shaped structure, and the connection point between the lever (251) and the support rod (252) is away from the ground; The electric push rod (22) is located on the side of the second bracket (253) away from the ground, and the extension and retraction direction of the telescopic rod (24) is parallel to the ground; The suction head (26) is located at one end of the scissor arm (255) away from the two control ends and the suction head (26) is located on the side of the scissor arm (255) closer to the ground.

8. The explosion-proof liquid suction robot for ship cabins according to claim 7, characterized in that, It also includes a liquid storage device (3), which is installed on the side of the body (1) away from the ground; The liquid storage device (3) includes a water tank body (31), a slide bar (36), and a slide groove (37) that can slide relative to the slide bar (36). One of the slide bar (36) and the slide groove (37) is installed on the side of the water tank body (31) near the machine body (1), and the other is installed on the side of the machine body (1) near the water tank body (31). The water tank body (31) is located on the side opposite to the machine body (1), and is provided with a hose connector (34) and a breather valve (35). The hose connector (34) is connected to the suction head (26) through a hose. The water tank body (31) is also provided with a level gauge (33). The level gauge (33) includes a wiring port (332) for outputting level data. The wiring port (332) is coupled to the communication module inside the machine body (1) through an anti-static cable. It also includes an explosion-proof bolt (331) for fixing the level gauge (33) on the machine body (1). The level gauge (33) is also provided with a boss (333) at one end near the machine body (1) to control the screwing limit of the explosion-proof bolt (331). The water tank body (31) is provided with a drain valve (32) on the side near the machine body (1).

9. The explosion-proof liquid suction robot for ship cabins according to claim 8, characterized in that, The body (1) is provided with an optical detection instrument assembly (6) and an illumination device (7) facing the same direction as the optical detection instrument assembly (6) in the forward direction; the body (1) is also provided with laser sensors (8) on both sides in the forward direction; the body (1) is also provided with an antenna (10), and the laser sensors (8) and the optical detection instrument assembly (6) are also coupled to the communication module, and the communication module transmits and receives signals through the antenna (10); The body (1) also has a water pump (9), which is used to generate a flow tendency from the suction head (26) to the hose connector (34) in the hose. The signal terminal of the water pump (9) is also coupled to the communication module.

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