CN111975789A

CN111975789A - Cabin cleaning robot based on electromagnetic principle

Info

Publication number: CN111975789A
Application number: CN202010736155.7A
Authority: CN
Inventors: 张洪双; 蒋梦龙; 唐嘉薇; 王义斌
Original assignee: Changzhou Campus of Hohai University
Current assignee: Changzhou Campus of Hohai University
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2020-11-24
Anticipated expiration: 2040-07-28
Also published as: CN111975789B

Abstract

The invention discloses a cabin cleaning robot based on an electromagnetic principle, which comprises a driving wheel, an electric brush lantern ring, an electromagnet coil, a coaxial hinge, a connecting shaft, a support, a central platform, a water gun and universal supporting wheels. The squirt is installed at the bottom of central platform. The central platform is fixedly connected with the two brackets and the electric brush lantern rings on the left side and the right side through screws. The two electric brush lantern rings are respectively nested on the left connecting shaft and the right connecting shaft, and the two connecting shafts are connected through a coaxial hinge. The other ends of the two connecting shafts are fixedly connected with the driving wheel. A plurality of electromagnet coils are fixed on the inner ring of the driving wheel. Each electromagnet coil is in contact with and electrically conductive with a brush on the brush collar. Two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the central platform. The robot is attached to the metal wall surface of a ship cargo bin by generating attraction by electrifying the electromagnet coil opposite to the plane, and the driving wheel rotates under pressure by generating attraction by electrifying the electromagnet coil with an inclination angle with the plane.

Description

Cabin cleaning robot based on electromagnetic principle

Technical Field

The invention relates to a cabin cleaning robot based on an electromagnetic principle, which can carry different instruments, equipment and the like to perform special operation on a magnetically attracted metal plane.

Technical Field

After the cargo is transported, the hold of the cargo ship needs to be carefully cleaned, so that the next batch of cargo is prevented from being polluted or the hold is prevented from being corroded, and economic loss and even safety accidents are avoided. Manual cleaning needs to consume a large amount of manpower, and cabin height is great moreover, and the workman need use the scaffold frame just can wash the upper end, and cleaning efficiency is low. When cleaning, the cabin is often full of dust and smoke, and the personal safety and the physical health of workers are threatened.

There are several kinds of cabin cleaning robots or devices already in existence. However, the existing cabin cleaning device generally sacrifices the adaptability of the device in order to ensure stable movement and carry more working equipment, or adopts a complex structure, resulting in larger overall weight and volume.

For example, a cabin cleaning robot (CN 102085907A) adopts wheel drive, which ensures efficient and smooth movement, but can only adapt to the horizontal cabin bottom environment, and cannot clean the side surfaces and the covers of the cabin.

For another example, a bulk cargo ship bulkhead cleaning and washing device (CN 208412065U) adopts a guide rail structure, so that the device can adapt to various bulkhead states such as horizontal and vertical, but the whole structure is heavy and bulky, and is difficult to carry in practical use and complex to operate.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a cabin cleaning robot based on an electromagnetic principle, which can stably attach to cabin wall surfaces in different states and shapes and can freely move to replace workers to perform heavy and dangerous cabin cleaning work.

In order to solve the technical problems, the technical scheme of the invention is as follows: a cabin cleaning robot based on an electromagnetic principle comprises a driving wheel, an electric brush lantern ring, an electromagnet coil, a coaxial hinge, a connecting shaft, a support, a central platform, a water gun and universal supporting wheels. The squirt gun is installed at the bottom of central platform. The central platform is fixedly connected with the two brackets and the electric brush lantern rings on the left side and the right side through screws. The two electric brush lantern rings are respectively nested on the left connecting shaft and the right connecting shaft, and the two connecting shafts are connected through a coaxial hinge. The other ends of the two connecting shafts are fixedly connected with the driving wheel. A plurality of electromagnet coils are fixed on the inner ring of the driving wheel. Each electromagnet coil is in contact with and electrically conductive with a brush on the brush collar. Two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the central platform.

Furthermore, the driving wheel comprises a driving wheel inner ring and a driving wheel outer ring, and the driving wheel inner ring and the driving wheel outer ring are matched through a sliding groove and can rotate relatively.

Furthermore, universal supporting wheel includes universal wheel and spring, and the universal wheel passes through the spring mounting on central platform, and when the universal wheel received the extrusion, the spring shrink made the robot adapt to the cabin wall that has the radian.

Furthermore, the lantern ring part of the electric brush lantern ring and the inner ring of the driving wheel are made of insulating materials, and the central platform, the support and the connecting shaft are made of conductive materials.

Furthermore, a plurality of conducting strips are assembled between the inner ring of the driving wheel and the connecting shaft, and are uniformly distributed in the inner ring of the driving wheel in a circumferential manner.

Furthermore, an electrode is arranged at the tail of the central platform and supplies power to one end of the electromagnet coil sequentially through the central platform, the bracket, the connecting shaft and the conducting strip.

Furthermore, each brush lantern ring is provided with two brushes, namely an attaching brush and a forward brush, which are in contact with one end of the electromagnet coil and conduct electricity, and the four brushes of the left brush lantern ring and the right brush lantern ring are respectively connected to the four I/O ports of the controller.

After the technical scheme is adopted, the invention has the following advantages and effects:

the robot in the invention adopts the electromagnet to keep the posture, so that the robot has stronger adaptability, can adapt to most cabin environments, can move on the horizontal plane at the bottom of the cabin like the existing robot, can also move on the side wall and the cabin cover of the cabin and perform cleaning work, and in addition, the spring structure of the universal supporting wheel enables the robot to adapt to the radian of the wall surface of the cabin so as to avoid the phenomena of wheel slip and the like.

The forward, turning, attaching and detaching operations of the robot can be realized by controlling the on-off of four corresponding I/O ports, and the robot is easy to control and has small operation difficulty.

Drawings

FIG. 1 is a schematic structural diagram of a cabin cleaning robot based on an electromagnetic principle according to the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic illustration of the electrode position;

fig. 5 is an exploded view of the inner ring of the driving wheel and its surrounding related parts.

The meaning of the reference numerals: 1. the electric brush comprises an electric brush lantern ring 2, an electromagnet coil 3, a coaxial hinge 4, a connecting shaft 5, a support 6, a central platform 7, a water gun 8, a driving wheel inner ring 9, a driving wheel outer ring 10, a universal wheel 11, a spring 12, a conducting strip 13, an electrode 14, an attached electric brush 15 and a forward electric brush.

Detailed Description

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description taken in conjunction with the accompanying drawings.

As shown in fig. 1, the cabin cleaning robot based on the electromagnetic principle comprises a driving wheel, an electric brush lantern ring 1, an electromagnet coil 2, a coaxial hinge 3, a connecting shaft 4, a support 5, a central platform 6, a water gun 7 and universal supporting wheels. The water gun 7 is arranged at the bottom of the central platform 6. The central platform 6 is fixedly connected with the two brackets 5 and the electric brush lantern rings 1 at the left side and the right side through screws. The two electric brush lantern rings 1 are respectively nested on the left connecting shaft 4 and the right connecting shaft 4, and the two connecting shafts 4 are connected through the coaxial hinge 3. The other ends of the two connecting shafts 4 are fixedly connected with the driving wheel. A plurality of electromagnet coils 2 are fixed on the inner ring of the driving wheel. Each electromagnet coil is in contact with and electrically conductive with a brush on the brush collar 1. Two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the central platform 6.

The driving wheel comprises a driving wheel inner ring 8 and a driving wheel outer ring 9 which are matched through a sliding groove and can rotate relatively.

The universal supporting wheel comprises a universal wheel 10 and a spring 11, the universal wheel 10 is installed on the central platform 6 through the spring 11, and when the universal wheel 10 is extruded, the spring 11 contracts, so that the robot adapts to the cabin wall surface with radian.

The lantern ring part of the electric brush lantern ring 1 and the driving wheel inner ring 8 are made of insulating materials, and the central platform 6, the support 5 and the connecting shaft 4 are made of conductive materials.

A plurality of conducting strips 12 are assembled between the driving wheel inner ring 8 and the connecting shaft 4 and are uniformly distributed in the driving wheel inner ring 8 in a circumferential manner.

An electrode 13 is arranged at the tail part of the central platform 6 and supplies power to one end of the electromagnet coil 2 sequentially through the central platform 6, the bracket 5, the connecting shaft 4 and the conducting strip 12.

Each brush lantern ring 1 is provided with two brushes, namely an attachment brush 14 and a forward brush 15, which are in contact with and conduct electricity with one end of the electromagnet coil 2, and the four brushes of the left brush lantern ring 1 and the right brush lantern ring 1 are connected to four I/O ports of the controller respectively.

Except carrying on squirt 7 on the robot, can also carry on other work instruments, equipment, and in other use occasions, the theory of operation of this robot can satisfy other operation requirements, accomplishes different work.

The working principle of the invention is as follows:

for the sake of illustration, the two brushes on the brush collar 1 are named separately, the brush facing the cabin wall is the attached brush 14, and the brush facing forward with a certain inclination is the forward brush 15, as shown in fig. 1.

(1) When the robot is statically attached to the metal wall

The forward brushes 15 on both the left and right sides are not energized, and no attraction force is generated. The left and right sides of the attached brush 14 are powered on to generate magnetic attraction, so that the robot can be attached to the wall surface.

(2) When the robot needs to advance

The left and right sides depend on the brush 14 all to be switched on, make the robot can depend on the wall, keep the gesture stable, when needing to go forward, the brush 15 that goes forward of left and right sides all switches on, produces the appeal, makes the action wheel front end receive pressure, then the left and right sides depends on brush 14 outage, makes the action wheel roll forward under the effect of front end pressure. At the moment, the connecting shaft 4 and the driving wheel roll relative to the wall surface, and the central platform 6, the supporting frame and the electric brush lantern ring 1 move horizontally relative to the wall surface. Because the lantern ring does not rotate along with the driving wheel, the electromagnet originally connected with the advancing electric brush slides away from the advancing electric brush when the driving wheel rotates and is closed with the attached electric brush, the attached electric brush is electrified at the moment, so that the robot is attached to the wall surface of the cabin, and the robot can move forwards by alternately powering on and powering off.

(3) When the robot needs to turn

Taking the left turn of the robot as an example, the left and right attached brushes 14 are electrified, so that the robot can be attached to the wall surface to keep stable posture, the left advancing brush 15 is not electrified, the left driving wheel stops at the original position, the right advancing brush 15 is electrified, the right wheel rolls forwards, and the robot turns left by utilizing the differential principle. At this time, the connecting shafts 4 on the left and right sides rotate relatively.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a cabin cleaning robot based on electromagnetism principle which characterized in that: the device comprises a driving wheel, an electric brush lantern ring (1), an electromagnet coil (2), a coaxial hinge (3), a connecting shaft (4), a bracket (5), a central platform (6), a water gun (7) and a universal supporting wheel; the water gun (7) is arranged at the bottom of the central platform (6); the central platform (6) is fixedly connected with the two brackets (5) and the electric brush lantern rings (1) on the left side and the right side through screws; the two electric brush lantern rings (1) are respectively nested on the left connecting shaft (4) and the right connecting shaft (4), and the two connecting shafts (4) are connected through a coaxial hinge (3); the other ends of the two connecting shafts (4) are fixedly connected with the driving wheel; a plurality of electromagnet coils (2) are fixed on the inner ring of the driving wheel; each electromagnet coil is in contact with the electric brush on the electric brush lantern ring (1) and conducts electricity; the two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the central platform (6).

2. A cabin washing robot based on electromagnetic principle according to claim 1, characterized in that: the driving wheel comprises a driving wheel inner ring (8) and a driving wheel outer ring (9), and the driving wheel inner ring and the driving wheel outer ring are matched through a sliding groove and can rotate relatively.

3. A cabin washing robot based on electromagnetic principle according to claim 1, characterized in that: the universal supporting wheel comprises a universal wheel (10) and a spring (11), the universal wheel (10) is installed on the central platform (6) through the spring (11), and when the universal wheel (10) is extruded, the spring (11) contracts, so that the robot adapts to the cabin wall surface with radian.

4. A cabin washing robot based on electromagnetic principle according to claim 1, characterized in that: the sleeve ring part of the electric brush sleeve ring (1) and the inner ring (8) of the driving wheel are made of insulating materials, and the central platform (6), the support (5) and the connecting shaft (4) are made of conductive materials.

5. A cabin washing robot based on electromagnetic principle according to claim 2, characterized in that: a plurality of conducting strips (12) are assembled between the driving wheel inner ring (8) and the connecting shaft (4), and are uniformly distributed in the driving wheel inner ring (8) in a circumferential manner.

6. A cabin washing robot based on electromagnetic principle according to claim 1, characterized in that: an electrode (13) is arranged at the tail of the central platform (6), and the central platform (6), the support (5), the connecting shaft (4) and the conducting strip (12) are sequentially used for supplying power to one end of the electromagnet coil (2).

7. A cabin washing robot based on electromagnetic principle according to claim 1, characterized in that: all there are two brushes on every brush lantern ring (1), for adhering to brush (14) and brush (15) that gos forward respectively, all contact and electrically conduct with the one end of the electro-magnet of electro-magnet coil (2), and four brushes of controlling two brush lantern rings (1) are connected to four IO mouths of controller respectively.