CN102910269B - Robot for brushing ship body - Google Patents
Robot for brushing ship body Download PDFInfo
- Publication number
- CN102910269B CN102910269B CN201210464371.6A CN201210464371A CN102910269B CN 102910269 B CN102910269 B CN 102910269B CN 201210464371 A CN201210464371 A CN 201210464371A CN 102910269 B CN102910269 B CN 102910269B
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- Prior art keywords
- rotor
- rotating shaft
- robot
- cleaning
- hull
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- 230000001680 brushing effect Effects 0.000 title abstract 4
- 238000004140 cleaning Methods 0.000 claims abstract description 63
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 82
- 238000013016 damping Methods 0.000 claims description 4
- 238000007654 immersion Methods 0.000 claims description 4
- 235000015170 shellfish Nutrition 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 abstract description 4
- 230000002411 adverse Effects 0.000 abstract 1
- 238000010521 absorption reaction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Landscapes
- Cleaning In General (AREA)
Abstract
The invention discloses a robot for brushing a ship body. The robot comprises a mounting plate; and the robot further comprises a travelling wheel mechanism, a cleaning brush and a rotary wing, wherein the rotary wing is driven by a rotating power device of the rotary wing, the travelling wheel mechanism and the cleaning brush are installed on the front side of the mounting plate, a rotary mechanism is installed on the back side of the mounting plate and comprises a rotating shaft and a rotating shaft power device, the rotating shaft is driven by the power device of the power device, the rotary wing is fixedly connected with the rotating shaft and swings along with the rotation of the rotating shaft. The rotating power device of the rotary wing drives the rotary wing to rotate, so that the robot for brushing the ship body can be adhered to the surface of the ship body, the adhesion force is strong, and the robot not only is applicable to the ship bodies with thick shellfish attachment, but also effectively overcomes the adverse impacts of magnetic adsorption on the ship bodies; and the rotary wing swings along with the rotation of the rotating shaft, so that the travelling direction of the robot for brushing the ship body is controlled through adjusting the rotation direction of the rotary wing which rotates along with the rotating shaft.
Description
Technical field
The present invention relates to hull robot for cleaning field, refer to the pusher hull robot for cleaning of a kind of rotor especially.
Background technology
Current hull robot for cleaning major part adopts the robot of magnetic adsorption type, as everyone knows, the part that the side of ship contacts with water, if cleaned with water throughout the year, the shellfish etc. that one deck is thicker can be grown, when magnetic adsorption type robot ambulation herein time, will become large because of the distance of hull and magnetic suck crawler belt thus cause magnetic suck mode part even all to lose efficacy, if the magnetic force now merely increasing permanent magnet or the length extending crawler belt are to increase absorption affinity, robot for cleaning turning rate when smooth hull surface carries out cleaning work with water will be made to consume energy more painstakingly and more, and Long-Time Service magnetic adsorption type is cleaned with water and hull can be made to produce magnetic, when usual shipboard communication facility cannot normally work because of electricity shortage or unit exception, people often guide for use pin take one's bearings, if but hull has been magnetized by magnetic suck robot for cleaning, compass distinguishing direction will be affected, as can be seen here hull be magnetized harm big.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of hull robot for cleaning, this kind of robot clean with water effective, absorption affinity strong, be applicable to the hull that shellfish attachment is thicker, effectively can avoid the negative effect that magnetic suck brings to hull.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of hull robot for cleaning, comprise installing plate, this robot also comprises traveling wheel mechanism, cleaning brush and rotor, described rotor is driven by rotor rotational power set, described traveling wheel mechanism and cleaning brush are installed on installing plate front, the installing plate back side is provided with rotating mechanism, described rotating mechanism comprises rotating shaft and rotating shaft power set, rotating shaft is driven by rotating shaft power set, described rotor is fixedly connected with rotating shaft, and rotor swings with the rotation of rotating shaft.
As the preferred scheme of one, described traveling wheel mechanism is universal wheel mechanism.
As the preferred scheme of one, described rotor comprises X rotor and/or Y rotor, described rotating shaft comprises X rotating shaft and/or Y rotating shaft, X rotor is fixedly connected with X rotating shaft, Y rotor is fixedly connected with Y rotating shaft, each rotating shaft drives by its corresponding rotating shaft power set, and X rotor swings with the rotation of X rotating shaft, and Y rotor swings with the rotation of Y rotating shaft.
As the preferred scheme of one, described installing plate is provided with the water sensor of the rotor immersion situation of test hull robot for cleaning.
As the preferred scheme of one, described water sensor comprise the water inlet position being positioned at rotor water inlet position water sensor and be positioned at that rotor goes out water level go out water level water sensor.
As the preferred scheme of one, the outside of described rotor is all provided with radome fairing.
As the preferred scheme of one, described cleaning brush is three, and interval triangular in shape is arranged, each cleaning brush drives by cleaning brush rotary power unit and rotates.
As the preferred scheme of one, the universal wheel number of described universal wheel mechanism is three and isosceles triangle is arranged, each universal wheel all installs damping spring.
As the preferred scheme of one, on described installing plate, the number of rotor is at least two.
After have employed technique scheme, effect of the present invention is: a kind of hull robot for cleaning, comprise installing plate, this robot also comprises traveling wheel mechanism, cleaning brush and rotor, described rotor is driven by rotor rotational power set, described traveling wheel mechanism and cleaning brush are installed on installing plate front, the installing plate back side is provided with rotating mechanism, described rotating mechanism comprises rotating shaft and rotating shaft power set, rotating shaft is driven by rotating shaft power set, described rotor is fixedly connected with rotating shaft, and rotor swings with the rotation of rotating shaft.Drive the rotation of rotor to realize the absorption of hull robot for cleaning at hull surface by rotor rotational power set, absorption affinity is strong, can be applicable to the hull that shellfish attachment is thicker, effectively overcome again the negative effect that magnetic suck brings to hull; Rotor swings with the rotation of rotating shaft, can be controlled the direction of travel of hull robot for cleaning by adjustment rotor with the direction that rotating shaft rotates.
Described rotor comprises X rotor and/or Y rotor, described rotating shaft comprises X rotating shaft and/or Y rotating shaft, X rotor is fixedly connected with X rotating shaft, Y rotor is fixedly connected with Y rotating shaft, each rotating shaft drives by its corresponding rotating shaft power set, X rotor swings with the rotation of X rotating shaft, Y rotor swings with the rotation of Y rotating shaft, the direction of X rotor and/or Y rotor can be regulated by the rotation of control X rotating shaft and/or Y rotating shaft, thus change the direction of travel of hull robot for cleaning, this robot is made to have the double freedom of plane, thus more convenient robot walks on hull.
Described installing plate is provided with the water sensor of the rotor immersion situation of test hull robot for cleaning.Described water sensor comprise the water inlet position being positioned at rotor water inlet position water sensor and be positioned at that rotor goes out water level go out water level water sensor, the flooded condition provided by water sensor can realize the control of different rotation rates to different rotor, in the process avoiding rotor to enter from air water, rotor is caused to damage because rotating speed is too fast.
The outside of described rotor is all provided with radome fairing, and the security performance of rotor improves, and effectively prevents unexpected generation.
Described cleaning brush is three, and interval triangular in shape is arranged, each cleaning brush drives by cleaning brush rotary power unit and rotates, and can play and fully clean hull, not have the cleaning performance of blind area.
The universal wheel number of described universal wheel mechanism is three and isosceles triangle is arranged, each universal wheel all installs damping spring, can alleviate hull robot for cleaning when cleaning hull with water to the impact that hull causes, thus be applicable to the situation of hull injustice.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the Facad structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the structure schematic diagram of the embodiment of the present invention;
In accompanying drawing: 1. installing plate; 2. cleaning brush; 3.X rotor; 4.Y rotor; 5.X rotating shaft; 6.Y rotating shaft; 7. water inlet position water sensor; 8. go out water level water sensor; 9. water sensor in the middle part of; 10. radome fairing; 11. universal wheels.
Detailed description of the invention
Below by specific embodiment, a kind of hull robot for cleaning of the present invention is described in further detail.
Under the side intake at first with hull robot for cleaning in the present embodiment is, the side finally intake is upper, described up and down be consistent up and down shown in attached Fig. 1 and 2.The bearing of trend of the X rotating shaft in the present invention chooses arbitrarily, and the bearing of trend of Y rotating shaft and the direction of this X-axis are orthogonal.
As Fig. 1, shown in 2, a kind of hull robot for cleaning, comprise installing plate 1, this robot also comprises traveling wheel mechanism, cleaning brush 2 and rotor, described rotor is driven by rotor rotational power set, rotor rotational power set are hydraulic motor or motor, described traveling wheel mechanism and cleaning brush 2 are installed on installing plate 1 front, installing plate 1 back side is provided with rotating mechanism, described rotating mechanism comprises rotating shaft and rotating shaft power set, rotating shaft is driven by rotating shaft power set, rotating shaft power set are motor or hydraulic motor, described rotor is fixedly connected with rotating shaft, rotor swings with the rotation of rotating shaft, installing plate 1 is provided with at least two rotors.
In the present embodiment, described traveling wheel mechanism is universal wheel mechanism, universal wheel 11 number of described universal wheel mechanism is three and isosceles triangle is arranged, each universal wheel 11 all installs damping spring, the universal wheel 11 being positioned at isosceles triangle drift angle direction play the guiding role, and the universal wheel 11 play the guiding role is positioned at the bottom of installing plate 1.Described rotor comprises two the X rotors 3 being positioned at installing plate 1 bottom and two the Y rotors 4 being positioned at installing plate 1 top, all rotors are arranged in squares, correspondingly, described rotating shaft comprises two X rotating shafts 5 and two Y rotating shafts 6, each X rotor 3 is all fixedly connected with X rotating shaft 5, each Y rotor 4 is all fixedly connected with Y rotating shaft 6, each rotating shaft drives by its corresponding rotating shaft power set, X rotor 3 swings with the rotation of X rotating shaft 5, Y rotor 4 swings with the rotation of Y rotating shaft 6, X rotor 3 and Y rotor 4 make hull robot for cleaning can the walking in direction up and down in the rotation of different directions.The outside of rotor is all provided with radome fairing 10.
The back side of installing plate 1 is provided with the water sensor of the rotor immersion situation of test hull robot for cleaning, water sensor comprise the water inlet position being positioned at rotor water inlet position water sensor 7 and be positioned at that rotor goes out water level go out water level water sensor 8, because rotors all in the present embodiment are arranged in squares, and the spacing of two Y rotors 4 and two X rotors 3 is less, so the water inlet position water sensor 7 going out water level water sensor 8 and Y rotor 4 of X rotor 3 can adopt a middle part water sensor 9 to replace, the warning message going out the water inlet position of water level and Y rotor 4 of X rotor 3 is provided by middle part water sensor 9, the water inlet position water sensor 7 soaked at first is positioned at the bottom of installing plate 1.
Described cleaning brush 2 is three, and interval triangular in shape is arranged, each cleaning brush 2 drives by cleaning brush rotary power unit and rotates.
During work, hydraulic motor or motor drive X rotor 3 and Y rotor 4 to rotate, the part that first hull robot for cleaning is positioned under water to hull according to program institute projected path from a certain position that hull does not touch the side of water is walked, when starting walking, three cleaning brush 2 in installing plate 1 front start rotary work, cleaning brush 2 is driven by the motor being installed on installing plate 1 inside, described motor has done water-proof sealing disposal, in robot ambulation process, namely the region that three cleaning brush 2 cover is cleaned with water totally.
When the hull part be positioned at above the water surface is cleaned with water totally, according to projected path, hull robot for cleaning starts to clean with water the part be positioned under water.When robot for cleaning progressively downwards walking time and start to touch the water surface, owing to being originally in air, rotor needs to have the adhesive force that ultrahigh rotating speed just to provide robot, the resistance of water can cause damage to it, by water inlet position water sensor 7 and the position going out the mode clear and definite water level place installing plate 1 that water level water sensor 8 is reported to the police, when robot lower contacts is to the water surface, can receive into water position water sensor 7 to our warning, now reduce the speed of X rotor 3, now be in Y rotor 4 speed parallel with installing plate 1 and become large, keep robot to the absorption of hull, after X rotor 3 all enters the water surface, increase the speed of X rotor 3, sufficient preparation is done for Y rotor 4 enters in water.When the water surface touches middle part water sensor 9, accelerate X rotor 3, robot for cleaning is adsorbed on hull, and deceleration-operation is carried out, until it enters the water surface to Y rotor 4.When top go out water level water sensor 8 report to the police time, prove that whole hull robot for cleaning all enters under water, at this moment we just can operate with suitable speed, adjust the direction of X rotor 3 and Y rotor 4, then work under water.
Described hull robot for cleaning is connected with the winding plant being installed on boat deck, when robot breaks down, relies on winding plant robot can be retracted on boat deck.
In addition, can also install the rotor of different number as required on installing plate 1, rotor also can adopt other arrangement multiple.
As from the foregoing, installing plate 1 be attached on hull adhesive force mainly come from rotor wing rotation and make air or water flow and produce pressure, and rotor swings on X rotating shaft 5 or Y rotating shaft 6, regulates pressure, make it produce component of advancing in X-direction or Y-direction, make robot ambulation.
Claims (7)
1. a hull robot for cleaning, comprise installing plate, it is characterized in that: this robot also comprises traveling wheel mechanism, cleaning brush and rotor, described rotor is driven by rotor rotational power set, described traveling wheel mechanism and cleaning brush are installed on installing plate front, the installing plate back side is provided with rotating mechanism, described rotating mechanism comprises rotating shaft and rotating shaft power set, rotating shaft is driven by rotating shaft power set, described rotor is fixedly connected with rotating shaft, rotor swings with the rotation of rotating shaft, described traveling wheel mechanism is universal wheel mechanism, described rotor comprises X rotor and/or Y rotor, described rotating shaft comprises X rotating shaft and/or Y rotating shaft, X rotor is fixedly connected with X rotating shaft, Y rotor is fixedly connected with Y rotating shaft, each rotating shaft drives by its corresponding rotating shaft power set, X rotor swings with the rotation of X rotating shaft, Y rotor swings with the rotation of Y rotating shaft.
2. hull robot for cleaning as claimed in claim 1, is characterized in that: the water sensor described installing plate being provided with the rotor immersion situation of test hull robot for cleaning.
3. hull robot for cleaning as described in claim 2, is characterized in that: described water sensor comprise the water inlet position being positioned at rotor water inlet position water sensor and be positioned at that rotor goes out water level go out water level water sensor.
4. hull robot for cleaning as described in claim 3, is characterized in that: the outside of described rotor is all provided with radome fairing.
5. hull robot for cleaning as described in claim 4, is characterized in that: described cleaning brush is three, and interval triangular in shape is arranged, each cleaning brush drives by cleaning brush rotary power unit and rotates.
6. hull robot for cleaning as described in claim 1, is characterized in that: the universal wheel number of described universal wheel mechanism is three and isosceles triangle is arranged, each universal wheel all installs damping spring.
7. hull robot for cleaning as described in claim 6, is characterized in that: the rotor on described installing plate is at least two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210464371.6A CN102910269B (en) | 2012-11-16 | 2012-11-16 | Robot for brushing ship body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210464371.6A CN102910269B (en) | 2012-11-16 | 2012-11-16 | Robot for brushing ship body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102910269A CN102910269A (en) | 2013-02-06 |
| CN102910269B true CN102910269B (en) | 2015-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210464371.6A Active CN102910269B (en) | 2012-11-16 | 2012-11-16 | Robot for brushing ship body |
Country Status (1)
| Country | Link |
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| CN (1) | CN102910269B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287554A (en) * | 2013-06-28 | 2013-09-11 | 张家港同宇智能机电科技有限公司 | Underwater ship cleaning brush |
| CN103395488B (en) * | 2013-07-01 | 2016-01-20 | 河海大学常州校区 | Underwater measuring robots |
| CN103698340B (en) * | 2013-12-27 | 2016-03-09 | 河海大学常州校区 | A kind of pick-up unit of submerged structure |
| WO2017197601A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Unmanned aerial vehicle capable of walking on ground |
| CN106988368B (en) * | 2017-03-30 | 2020-08-07 | 河海大学常州校区 | Hydraulically-driven underwater structure cleaning system and method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08116826A (en) * | 1994-10-26 | 1996-05-14 | Mitsubishi Heavy Ind Ltd | Robot for underwater cleaning |
| WO2008141131A2 (en) * | 2007-05-09 | 2008-11-20 | Irobot Corporation | Compact autonomous coverage robot |
| CN101317744B (en) * | 2008-07-18 | 2010-06-09 | 哈尔滨工业大学 | Wall surface cleaning robot based on positive-negative pressure adsorption principle |
| CN102085907A (en) * | 2011-01-19 | 2011-06-08 | 无锡职业技术学院 | Cabin cleaning robot |
| CN202449187U (en) * | 2011-11-22 | 2012-09-26 | 哈尔滨同元智能机电设备有限公司 | Compound hull-absorbing cleaning robot |
| CN202879770U (en) * | 2012-11-16 | 2013-04-17 | 张家港同宇智能机电科技有限公司 | Ship body brushing robot |
-
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- 2012-11-16 CN CN201210464371.6A patent/CN102910269B/en active Active
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| CN102910269A (en) | 2013-02-06 |
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Effective date of registration: 20170329 Address after: 266000 Qingdao science and technology, Huangdao District, Shandong, No. two road, No. 167 Patentee after: Qingdao Zhonghui Intelligent Equipment Technology Co.,Ltd. Address before: 215600 Suzhou City, Jiangsu Province, the town of Zhangjiagang, Nan Fung Road, Zhangjiagang Tong Yu intelligent mechanical and Electrical Technology Co., Ltd. Patentee before: Zhangjiagang Tongyu Intelligent Electromechanical Technology Co.,Ltd. |
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Effective date of registration: 20171228 Address after: No. 1, No. 5, D, No. 258, Nantong street, Nangang District, Harbin, Heilongjiang Province, No. 5 Patentee after: Harbin gorgeous marine science and Technology Co.,Ltd. Address before: 266000 Qingdao science and technology, Huangdao District, Shandong, No. two road, No. 167 Patentee before: Qingdao Zhonghui Intelligent Equipment Technology Co.,Ltd. |
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Effective date of registration: 20180802 Address after: 215332 B12 15, Jin Yang Road, Huaqiao Town, Kunshan City, Suzhou, Jiangsu, 1-2 Patentee after: Kunshan bright Intelligent Technology Co.,Ltd. Address before: 150001 No. 1, 1 D, cultural home, 258 Nantong street, Nangang District, Harbin, Heilongjiang. Patentee before: Harbin gorgeous marine science and Technology Co.,Ltd. |
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Effective date of registration: 20190530 Address after: 150001 No. 1, 1 D, cultural home, 258 Nantong street, Nangang District, Harbin, Heilongjiang. Patentee after: Harbin gorgeous marine science and Technology Co.,Ltd. Address before: 215332 B12 15, Jin Yang Road, Huaqiao Town, Kunshan City, Suzhou, Jiangsu, 1-2 Patentee before: Kunshan bright Intelligent Technology Co.,Ltd. |
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Effective date of registration: 20200628 Address after: Area c355, phase II, Yazhou science and Technology City, Yazhou District, Sanya City, Hainan Province, 572000 Patentee after: Hainan colorful Marine Technology Co.,Ltd. Address before: No. 1, No. 5, D, No. 258, Nantong street, Nangang District, Harbin, Heilongjiang Province, No. 5 Patentee before: Harbin gorgeous marine science and Technology Co.,Ltd. |
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Effective date of registration: 20240409 Address after: 1-5 floors of Dibao Building, No. 19 Honglingjin Street, Nangang District, Harbin City, Heilongjiang Province, 150001 Patentee after: Harbin banzhilan Marine Technology Co.,Ltd. Country or region after: China Address before: 572000 area c355, Yazhou science and technology city standard plant phase II, Yazhou District, Sanya City, Hainan Province Patentee before: Hainan colorful Marine Technology Co.,Ltd. Country or region before: China |