CN116588273A - Automatic ship body cleaning robot with turn-over function - Google Patents
Automatic ship body cleaning robot with turn-over function Download PDFInfo
- Publication number
- CN116588273A CN116588273A CN202310813093.9A CN202310813093A CN116588273A CN 116588273 A CN116588273 A CN 116588273A CN 202310813093 A CN202310813093 A CN 202310813093A CN 116588273 A CN116588273 A CN 116588273A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- water
- plate
- water cavity
- cleaning robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 230000007306 turnover Effects 0.000 title description 8
- 239000000428 dust Substances 0.000 claims abstract description 33
- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 130
- 230000007246 mechanism Effects 0.000 claims description 11
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 10
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 10
- 241001330002 Bambuseae Species 0.000 claims description 10
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 10
- 239000011425 bamboo Substances 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 abstract description 19
- 230000008569 process Effects 0.000 abstract description 14
- 230000005484 gravity Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 8
- 230000008602 contraction Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of cleaning robots, and discloses an automatic ship body cleaning robot with a crossing function. According to the invention, the split type cooperative cleaning mode is adopted, so that dust removal treatment can be carried out on the ship bottom cabin and the side plate transverse cabin wall plate in the ship at the same time, the dust removal efficiency is improved, and through the cooperation of the two groups of support leg assemblies and the rotating piece, the overturning work of the robot can be formed, so that the dust removal work of different cabins is satisfied, in the process of overturning, no bump exists, and the problems that the cleaning robot is inconvenient to carry out the overturning work and the ship is easy to damage in the process of overturning in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to an automatic ship cleaning robot with a crossing function.
Background
As underwater technology evolves, more and more sunken vessels are discovered. The unearthed sunken ship is an important constituent part of cultural heritage in China, provides indistinct physical data for the subsequent research of shipbuilding traditional processes, traffic history, shipbuilding history and the like, is mainly used for research and display after salvaging, but is an ancient ship in a long-term open preservation environment, can generate irreversible damage due to chemical change of ship wood caused by enrichment of dust and particle pollutants, has extremely high technical requirements on cleaning dust on the ancient ship, and consumes manpower.
In the related art, in order to avoid damaging the ancient boat in the cleaning process, cleaning treatment is generally required through the cleaning robot, however, due to different ancient boats, corresponding transverse cabin wall plates (as shown in fig. 12) exist in the cabins of the ancient boats, and the cleaning robot in the prior art cannot form a turn-over work in the cleaning process, so that cleaning work at different positions cannot be realized, position transfer is generally required through the crane, and the sizes of the ancient boats are different, so that the requirement of installation and adjustment of the crane is higher, and the cleaning cost is further improved.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides an automatic ship body cleaning robot with a crossing function, which can simultaneously carry out dust removal treatment on a ship body bottom cabin and a ship middle side plate transverse cabin wall plate by adopting a split cooperative cleaning mode, so that the dust removal efficiency is improved, and the two groups of leg assemblies and rotating parts are matched to form the turnover work of the robot, thereby meeting the dust removal work of different ship cabins, and in the crossing process, no bump exists, so that the problems that the cleaning robot in the prior art is inconvenient to carry out the crossing work and the ship body is easy to damage in the crossing process are solved.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an automatic ship body cleans robot with function of crossing, includes main support and cleaning trolley, the bottom fixedly connected with sleeve of main support, telescopic both ends all rotate and are connected with the rotor plate, two the equal fixed mounting of lateral surface of rotor plate has four mobilizable and flexible landing leg subassemblies, telescopic inside is provided with the rotating member that is used for two rotor plate rotary drive, the top fixedly connected with of main support is connected with the motor of rotating member, four fixedly connected with fixed plate in the bottom of main support, four fixedly connected with fly leaf between the bottom of fixed plate, two Z type guide rails have all been articulated to the both sides at fly leaf top, four Z type guide rails are the symmetry setting, be provided with on the fly leaf and be used for the fan-shaped driven regulating part of four Z type guide rails, two sets of be provided with on the landing leg subassembly and be used for detecting the sensor group of hull boundary, and two sets of the medial surface of landing leg subassembly all is provided with miniature dust catcher.
Preferably, the adjusting piece comprises four steering gears used for driving the Z-shaped guide rails, the four steering gears are fixedly arranged on two sides of the movable plate in pairs, and output shafts of the four steering gears are fixedly connected with the hinged ends of the four Z-shaped guide rails respectively.
Preferably, both sides at the top of the movable plate are fixedly connected with auxiliary guide rails, and both ends of the two auxiliary guide rails are respectively overlapped with the top ends of the four Z-shaped guide rails.
Preferably, two groups of guide rail wheels are arranged on two sides of the cleaning trolley, and a control piece for driving the four groups of guide rail wheels to rotate is arranged in the cleaning trolley.
Preferably, the rotating member comprises a rotating shaft rotating inside the sleeve, two ends of the rotating shaft are fixedly connected with inner side surfaces of the two rotating plates respectively, a first conical gear is fixedly connected with the outer surface of the rotating shaft, a second conical gear is fixedly connected with an output shaft of the motor, the outer surface of the second conical gear is meshed with the outer surface of the first conical gear, and an opening for the output shaft of the motor to penetrate through is formed in the outer surface of the sleeve.
Preferably, the landing leg subassembly is including being fixed in the cover frame of rotor plate lateral surface, the spout has been seted up to the inside of cover frame, the inside of cover frame is through spout sliding connection has the expansion plate, the bottom of expansion plate is provided with the universal wheel, one side of cover frame is provided with and is used for the driving piece to expansion plate flexible drive.
Preferably, the driving piece comprises a first electric telescopic rod fixed on the back of the sleeve frame through a bracket, a connecting plate is fixedly connected with the telescopic end of the first electric telescopic rod, and one side of the connecting plate is fixed on one side of the telescopic plate.
Preferably, an unfolding assembly is arranged in the expansion plate, and a buffer piece is arranged at the bottom of the expansion plate;
the expansion assembly comprises a movable groove which is formed in the bottom of the expansion plate, two gears are rotatably connected in the movable groove, the rotation ends of the two gears are fixedly connected with expansion plates, dust collection mechanisms are arranged on the outer side faces of the two expansion plates, a second electric telescopic rod is fixedly connected to the bottom of the inner wall of the movable groove, and a straight toothed plate meshed with the outer surfaces of the two gears is fixedly connected to the telescopic end of the second electric telescopic rod;
the buffer piece is including being fixed in the buffer section of thick bamboo of expansion plate bottom, the inside sliding connection of buffer section of thick bamboo has the protruding pole, and the bottom of protruding pole extends to the bottom of buffer section of thick bamboo, and the bottom and the universal wheel of protruding pole are connected, fixedly connected with buffer spring between the top of protruding pole and the top of buffer section of thick bamboo inner wall, and the surface of protruding pole is provided with damping cover, and damping cover and the bottom fixed connection of buffer section of thick bamboo.
Preferably, the main bracket is provided with two sets of counterweight components, and counterweight ends of the two sets of counterweight components are respectively arranged at telescopic ends of the two sets of support leg components;
the counterweight component comprises a water pump fixed at the top of the main support, a water suction port of the water pump is fixedly connected with a water suction main pipe, a water outlet of the water pump is fixedly connected with a water outlet main pipe, the outer side faces of the expansion plates in the four support components are respectively fixedly connected with a first water cavity, a second water cavity, a third water cavity and a fourth water cavity, and liquid is filled in the second water cavity and the third water cavity;
the inside of first water cavity, second water cavity, third water cavity and fourth water cavity all is fixed intercommunication and is had the branch pipe that absorbs water, and the other end of four branch pipes that absorbs water all communicates with the inside of water intake manifold, all is provided with first electronic ooff valve on four branch pipes that absorb water, the inside of first water cavity, second water cavity, third water cavity and fourth water cavity all is fixed intercommunication and is had the branch pipe that goes out, and the other end of four branch pipes all communicates with the inside of water outlet manifold, all is provided with the second electronic ooff valve on four branch pipes that go out.
(III) beneficial effects
Compared with the prior art, the invention provides an automatic ship body cleaning robot with a crossing function, which has the following beneficial effects:
1. according to the invention, the split type cooperative cleaning mode is adopted, so that dust removal treatment can be carried out on the ship bottom cabin and the side plate transverse cabin wall plate in the ship at the same time, the dust removal efficiency is improved, and through the cooperation of the two groups of support leg assemblies and the rotating piece, the overturning work of the robot can be formed, so that the dust removal work of different cabins is satisfied, and in the process of overturning, no collision exists, and the problems that the cleaning robot is inconvenient to carry out the overturning work and the ship is easy to damage in the process of overturning in the prior art are solved.
2. According to the invention, the telescopic plate can be driven to move in a telescopic way through the arrangement of the driving piece, and the telescopic plate can be driven to move in a telescopic way through the telescopic movement of the telescopic plate, so that the height adjustment work is formed, the convenience of subsequent crossing is improved, the crossing work of transverse cabin wall plates with different heights is met, and the convenience and fluency of crossing are improved.
3. According to the invention, the unfolding assembly arranged on the expansion plate can solve the problem that the dust collection effect is reduced because the leg assembly is in an inclined state, so that the legs of the robot are close to the wall surface for dust collection, and the problem that the bottoms of ancient ships are easy to collide and damage in the process of sweeping the cultural relics of the ancient ships due to the arrangement of the buffer piece can be solved.
4. According to the invention, through the arrangement of the water pump, the water in one water cavity can be extracted by the water suction main pipe, and the water is discharged into the water cavity at the crossing position through the water outlet main pipe, so that the gravity center deviation is formed, the crossing effect is further improved, the problem that the stability and fluency of crossing cannot be ensured due to the fact that the gravity center of the water suction main pipe is singly stretched out and stretched back by the two support leg assemblies is solved, the gravity center change effect can be improved by changing the gravity of the stretching ends of the different support leg assemblies, and the crossing stability is improved.
Drawings
Fig. 1 is a schematic structural diagram of an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 2 is a schematic view of an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 3 is a schematic structural view of a main support in an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 4 is a schematic diagram of a combination of four Z-shaped rails in an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 5 is a schematic structural view of a sleeve in an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 6 is a schematic diagram showing a combination of a motor and a rotating shaft in an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 7 is a schematic structural view of a leg assembly in an automated hull cleaning robot with a roll-over function according to the present invention;
FIG. 8 is a side view of the structure of a leg assembly of an automated hull cleaning robot with a roll-over function in accordance with the present invention;
fig. 9 is a schematic structural view of a telescopic plate in an automated hull cleaning robot with a roll-over function according to the present invention;
fig. 10 is a schematic structural view of an unfolding assembly in an automated hull cleaning robot with a roll-over function according to the present invention;
FIG. 11 is a cross-sectional view of a bumper in an automated hull cleaning robot with a roll-over function in accordance with the present invention;
FIG. 12 is a schematic view of a prior art hull mechanism;
FIG. 13 is a side view of the structure of an automated hull cleaning robot with a roll-over function in accordance with the present invention;
fig. 14 is a schematic structural view of a counterweight assembly in an automated hull cleaning robot with a roll-over function according to the present invention.
In the figure: 1. a main support; 2. a cleaning trolley; 3. a sleeve; 4. a rotating plate; 5. a leg assembly; 51. a sleeve frame; 52. a telescoping plate; 53. a universal wheel; 54. a first electric telescopic rod; 55. a connecting plate; 6. a motor; 7. a fixing plate; 8. a movable plate; 9. a Z-shaped guide rail; 10. steering engine; 11. an auxiliary guide rail; 12. a guide rail wheel; 13. a rotating shaft; 14. a first bevel gear; 15. a second bevel gear; 16. a deployment assembly; 161. a gear; 162. unfolding the plate; 163. a dust collection mechanism; 164. a second electric telescopic rod; 165. a straight toothed plate; 17. a buffer member; 171. a buffer tube; 172. a protruding rod; 173. a buffer spring; 174. a damping sleeve; 18. a water pump; 19. a water suction main pipe; 20. a water outlet main pipe; 21. a first water chamber; 22. a second water chamber; 23. a third water chamber; 24. a fourth water chamber; 25. a water absorption branch pipe; 26. a first electric switching valve; 27. a water outlet pipe; 28. and a second electric switching valve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1-14, an automatic ship body cleaning robot with a crossing function comprises a main support 1 and a cleaning trolley 2, wherein a sleeve 3 is fixedly connected to the bottom of the main support 1, two ends of the sleeve 3 are rotatably connected with rotating plates 4, four movable and telescopic support leg assemblies 5 are fixedly arranged on the outer side surfaces of the two rotating plates 4, a rotating piece for rotationally driving the two rotating plates 4 is arranged in the sleeve 3, a motor 6 connected with the rotating piece is fixedly connected to the top of the main support 1, four fixed plates 7 are fixedly connected to the bottom of the main support 1, a movable plate 8 is fixedly connected between the bottoms of the four fixed plates 7, two Z-shaped guide rails 9 are hinged to two sides of the top of the movable plate 8, the four Z-shaped guide rails 9 are symmetrically arranged, a sensor group for detecting the ship body boundary is arranged on the movable plate 8, and a micro dust collector is arranged on the inner side surface of the two support leg assemblies 5;
the cleaning trolley 2 adopts a household plate cleaning robot in the prior art for cleaning dust on the ground, a guide rail wheel 12 is arranged on the cleaning trolley 2 and used for performing the crossing work through four Z-shaped guide rails 9, so that cleaning work at different positions is realized, and a control system and a power supply system are arranged on the main support 1;
the four Z-shaped guide rails 9 are contracted and expanded through the arrangement of the adjusting piece, the four Z-shaped guide rails 9 are expanded, the cross cabin wall plate of the cleaning trolley 2 can be conveniently overturned, the two rotating plates 4 can be rotationally driven through the arrangement of the motor 6 and the rotating piece, the supporting leg assembly 5 can be turned over, the supporting leg assembly 5 at the turning end position is matched with the extension of the supporting leg assembly 5, the power push rod of the supporting leg assembly 5 can be extended, and the whole gravity center moves forward after the leg is extended, so that the overturned is formed;
the side surfaces of the transverse cabin wall plates on the ship body can be cleaned by arranging a miniature dust collector on each supporting leg assembly 5, and the transverse cabin wall plates can be transversely cleaned by arranging universal wheels 53 at the bottoms of the supporting leg assemblies 5;
the bottom cabin and the transverse cabin wall plate of the middle side plate of the ship are simultaneously dedusted by adopting a split cooperative cleaning mode, a plurality of small dust collectors are attached to the side wall of the power push rod, and the transverse cleaning can be performed by matching with the universal wheels 53, so that the bottom cabin and the transverse cabin wall plate are simultaneously cleaned;
in the aspect of a control system, the motion control of the intelligent robot can be divided into a transverse control mode, a longitudinal control mode and a transverse and longitudinal coordination control mode; the horizontal and vertical coordination control is the comprehensive control of the horizontal and vertical directions of the robot, and is also the control for simultaneously adjusting the expected track and state.
In the process of the overturning, no collision exists, and meanwhile, the robot overturning mechanism is attached with a dust collector on one side of the wall surface, so that the side wall can be transversely cleaned at the same time;
in the aspect of cleaning, in order to clean the bottom cabin and the transverse cabin wall plate simultaneously, the robot adopts a split cooperative cleaning mode to remove dust from the bottom cabin of the ship body and the transverse cabin wall plate of the side plate in the ship at the same time. In the aspect of crossing a transverse cabin wallboard, a robot utilizes a push rod and a telescopic guide rail mechanical structure to realize the function of robot crossing, in the aspect of path planning, a cleaning robot uses a SLAM algorithm to plan a path and complete the running of the path, in the aspect of boundary detection, the cleaning robot detects the boundary of a ship body through a sensor to prevent the cleaning robot from turning down the ship body, in the aspect of cruising, the whole robot uses a battery with stronger cruising ability to drive, the battery is prevented from being replaced or charged in one-time cleaning, the algorithm SLAM and the like are written with programs to realize information sharing of positions, progress and the like, and the two robots working independently realize the combination of split-type cooperative cleaning and cleaning;
in order to ensure that the bottom cabin and the transverse cabin wall plate can be cleaned simultaneously, a split type cooperative cleaning mechanism is adopted, and when cleaning, the robot responsible for cleaning the two parts needs to be ensured to be capable of communicating in real time, and the cleaning work can be completed in the same time; after cleaning is completed, each split robot needs to be controlled to accurately perform combination; in order to fully automate the cleaning operation, after the split robots are combined, the robot is required to wholly turn over to the next transverse cabin at a position with a certain inclination by means of a guide rail and a power push rod; the guide rail can be automatically put down before the guide rail is overturned and spans two sides of the wallboard, and the guide rail can be retracted after the guide rail is overturned and spans to the next wallboard by utilizing the push rod; the whole robot is an ancient boat cultural relic in the public occasion, and when a component is selected, parts with lighter weight and smoother surface are used to reduce damage to the cultural relic; before the battery is exhausted, the robot should be able to automatically recognize and return to the original position, avoiding stopping in place.
Referring to fig. 3-4, the adjusting piece comprises four steering gears 10 for driving the Z-shaped guide rails 9, the four steering gears 10 are fixedly arranged on two sides of the movable plate 8 in pairs, and output shafts of the four steering gears 10 are fixedly connected with hinged ends of the four Z-shaped guide rails 9 respectively;
steering wheel 10 adopts prior art's steering wheel mechanism, be connected with power and the control system who sets up on main support 1 for drive Z type guide rail 9 angle modulation, carry out angle modulation to four Z type guide rails 9 through four steering wheels 10, form shrink expansion work, through the expansion drive to four Z type guide rails 9, be convenient for clean the work of crossing of dolly 2, through the shrink motion to four Z type guide rails 9, the work of crossing of being convenient for the robot body has the function of double-crossing, further improves its functionality and the practicality of cleaning the robot.
Referring to fig. 4, two sides of the top of the movable plate 8 are fixedly connected with auxiliary guide rails 11, and two ends of the two auxiliary guide rails 11 are respectively overlapped with the top ends of the four Z-shaped guide rails 9;
through the arrangement of two auxiliary guide rails 11, the two groups of Z-shaped guide rails 9 are connected, so that the cleaning trolley 2 can conveniently move to the other Z-shaped guide rail 9 through one Z-shaped guide rail 9, and the transverse cabin wall plate can be overturned.
Referring to fig. 2, two groups of guide rail wheels 12 are arranged on two sides of the cleaning trolley 2, and a control member for rotationally driving the four groups of guide rail wheels 12 is arranged in the cleaning trolley 2;
the control piece arranged inside the cleaning trolley 2 adopts a driving motor used for rotationally driving four groups of guide rail wheels 12 in the prior art, and can cooperate with the two groups of Z-shaped guide rail frames 9 to move to the other side of the transverse cabin wall plate through the rotation of the four groups of guide rail wheels 12, so that the cleaning trolley 2 can be overturned, cleaning work of different positions of the bottom of the cabin is realized, and the cleaning area of the cleaning trolley is increased.
Referring to fig. 5-6, the rotating member comprises a rotating shaft 13 rotating inside the sleeve 3, two ends of the rotating shaft 13 are fixedly connected with inner side surfaces of the two rotating plates 4 respectively, a first conical gear 14 is fixedly connected with the outer surface of the rotating shaft 13, a second conical gear 15 is fixedly connected with an output shaft of the motor 6, the outer surface of the second conical gear 15 is meshed with the outer surface of the first conical gear 14, and an opening for the output shaft of the motor 6 to penetrate is formed in the outer surface of the sleeve 3;
the motor 6 is connected with a power supply and a control system arranged on the main support 1, is a conical rotor motor which is in forward and reverse rotation, adopts a connecting mode and a coding mode in the prior art to perform society, and is used for driving the second conical gear 15 to rotate, driving the first conical gear 14 to rotate through the rotation of the second conical gear 15, forming the rotation work of the rotation shaft 13, driving the two rotation plates 4 to rotate through the rotation of the rotation shaft 13, and rotating the two rotation plates 4, so that the turnover work of the two groups of support leg assemblies 5 can be performed, and the support leg assemblies 5 at the turnover position are matched to be unfolded, so that the turnover work of the transverse cabin wall plate is formed.
The working principle of the automatic hull cleaning robot with the crossing function provided by the invention is as follows:
when the robot turns over, the two support leg assemblies 5 at the turning end positions are controlled to extend, the whole gravity center of the robot moves forwards after the legs extend, the motor 6 is started, the second bevel gear 15 can be driven to rotate by being matched with the starting of the motor 6, the first bevel gear 14 can be driven to rotate by meshing through the rotation of the second bevel gear 15, the rotation work of the rotation shaft 13 is formed, the two rotation plates 4 can be driven to rotate through the rotation of the rotation shaft 13, the two rotation plates 4 can rotate, the turning work of the two support leg assemblies 5 can be carried out, and the support leg assemblies 5 at the turning positions are matched with the unfolding of the transverse cabin wall plate to further form the turning work of the transverse cabin wall plate;
when two sets of leg assemblies 5 span the transverse cabin wall plate, the angle of the four Z-shaped guide rails 9 is adjusted through the four steering engines 10, shrinkage and expansion work is formed, the four Z-shaped guide rails 9 are driven to expand, at the moment, the cleaning trolley 2 can travel on the four Z-shaped guide rails 9 in cooperation with the four sets of guide rail wheels 12, so that the cross work is formed, finally, the cabin can be cleaned through the cleaning trolley 2, and in addition, the miniature dust collectors are arranged on each leg assembly 5, so that the side face of the transverse cabin wall plate on the ship body can be cleaned.
Example 2: the difference is based on example 1;
referring to fig. 7-8, the leg assembly 5 includes a sleeve frame 51 fixed on the outer side surface of the rotating plate 4, a sliding groove is formed in the sleeve frame 51, a telescopic plate 52 is slidably connected in the sleeve frame 51 through the sliding groove, a universal wheel 53 is arranged at the bottom end of the telescopic plate 52, and a driving member for driving the telescopic plate 52 to stretch and retract is arranged at one side of the sleeve frame 51;
through the setting of driving piece, can drive expansion plate 52 concertina movement, and the concertina movement of expansion plate 52, can drive universal wheel 53 concertina movement, form high regulation work, not only improve the convenience that follows the crossing, satisfy the work of crossing of not high transverse chamber wallboard moreover.
The driving part comprises a first electric telescopic rod 54 fixed on the back surface of the sleeve frame 51 through a bracket, a connecting plate 55 is fixedly connected to the telescopic end of the first electric telescopic rod 54, and one side of the connecting plate 55 is fixed on one side of the telescopic plate 52;
the first electric telescopic rod 54 is connected with an external power supply and a control switch and is used for driving the connecting plate 55 to move up and down, and then can drive the telescopic plate 52 to move in a telescopic manner, and the height adjustment work can be formed through the telescopic movement of the telescopic plate 52, so that the overturning work of the transverse cabin wall plates with different heights is met, and the overturning convenience is improved.
Example 3: the difference is based on example 1;
referring to fig. 3 and 9-11, the expansion assembly 16 is provided inside the expansion plate 52, and the buffer 17 is provided at the bottom of the expansion plate 52;
the expansion assembly 16 comprises a movable groove formed in the bottom of the expansion plate 52, two gears 161 are rotatably connected in the movable groove, the rotation ends of the two gears 161 are fixedly connected with expansion plates 162, dust collection mechanisms 163 are arranged on the outer side surfaces of the two expansion plates 162, a second electric telescopic rod 164 is fixedly connected to the bottom of the inner wall of the movable groove, and a straight toothed plate 165 meshed with the outer surfaces of the two gears 161 is fixedly connected to the telescopic end of the second electric telescopic rod 164;
through the arrangement of the second electric telescopic rod 164, the straight toothed plate 165 can be driven up and down, and through the up-and-down movement of the straight toothed plate 165, the two gears 161 can be driven to rotate positively and negatively through the meshing relationship, so that the two expansion plates 162 can be driven to perform expansion or contraction movement, further the expansion or contraction movement of the dust collection mechanism 163 is formed, the dust collection effect of the dust collection mechanism is improved, and the problem that the dust collection effect of the dust collection mechanism is reduced due to the fact that the leg of the robot is attached to the wall surface and is subjected to dust collection when the leg assembly 5 is in an inclined state is solved;
the buffer member 17 comprises a buffer cylinder 171 fixed at the bottom of the expansion plate 52, a protruding rod 172 is slidingly connected inside the buffer cylinder 171, the bottom end of the protruding rod 172 extends to the bottom of the buffer cylinder 171, the bottom end of the protruding rod 172 is connected with the universal wheel 53, a buffer spring 173 is fixedly connected between the top end of the protruding rod 172 and the top of the inner wall of the buffer cylinder 171, a damping sleeve 174 is arranged on the outer surface of the protruding rod 172, and the damping sleeve 174 is fixedly connected with the bottom of the buffer cylinder 171;
through the universal wheel 53 when the contact with ground, the impact of its upset in-process can drive protruding pole 172 and shrink, through the elastic force of buffer spring 173 self, can offset the pressure of protruding pole 172 shrink to form buffer treatment, moreover through the setting of damping cover 174, be used for carrying out damping treatment to protruding pole 172, avoid protruding pole 172 to appear the motion of high range, solved and cleaned at the ancient boat historical relic, because the power push rod overturns the in-process, cause the problem of damaging with colliding with to ancient boat bottom easily.
Example 4: the difference is based on example 1;
13-14, two sets of weight components are arranged on the main bracket 1, and the weight ends of the two sets of weight components are respectively arranged at the telescopic ends of the two sets of support leg components 5;
the counterweight component comprises a water pump 18 fixed at the top of the main bracket 1, a water suction port of the water pump 18 is fixedly connected with a water suction main pipe 19, a water outlet of the water pump 18 is fixedly connected with a water outlet main pipe 20, the outer side surfaces of expansion plates 52 in the four support components 5 are respectively fixedly connected with a first water cavity 21, a second water cavity 22, a third water cavity 23 and a fourth water cavity 24, and liquid is filled in the second water cavity 22 and the third water cavity 23;
the water suction main pipe 19 can be used for extracting liquid in one water cavity through the water pump 18, and the liquid is discharged into the water cavity at the crossing position through the water outlet main pipe 20, so that gravity center deviation is formed, the crossing effect is further improved, the problem that the single expansion and contraction of the two support leg assemblies 5 is solved, the stability and fluency of the crossing of the two support leg assemblies cannot be ensured due to the fact that the gravity center is changed is solved, the gravity center change effect of the expansion and contraction ends of the different support leg assemblies 5 can be improved through changing the gravity force of the expansion ends of the different support leg assemblies 5, and the crossing stability of the support leg assemblies is improved;
the liquid is filled in the second water cavity 22 and the third water cavity 23, so that the standing stability of the robot can be improved through the gravity of the liquid, and the liquid can be a water source or a liquid with a density higher than that of the water source;
the interiors of the first water cavity 21, the second water cavity 22, the third water cavity 23 and the fourth water cavity 24 are fixedly communicated with water absorption branch pipes 25, the other ends of the four water absorption branch pipes 25 are communicated with the interior of the water absorption main pipe 19, the four water absorption branch pipes 25 are provided with first electric switch valves 26, the interiors of the first water cavity 21, the second water cavity 22, the third water cavity 23 and the fourth water cavity 24 are fixedly communicated with water outlet branch pipes 27, the other ends of the four water outlet branch pipes 27 are communicated with the interior of the water outlet main pipe 20, and the four water outlet branch pipes 27 are provided with second electric switch valves 28;
the first electric switch valve 26 and the second electric switch valve 28 are used for controlling the water suction branch pipe 25 and the water outlet branch pipe 27 so as to conveniently convert the liquid in different water cavities into different water cavities through the water pump 18, thereby improving the stability of the robot when standing or improving the overturning effect;
when the robot turns over in the left side direction, the water in the third water cavity 23 can be extracted by starting the water pump 18 and discharged into the first water cavity 21, so that the water sources are filled in the first water cavity 21 and the second water cavity 22, the forward tilting trend of the robot is improved, and the follow-up operation is facilitated by the expansion and contraction of the supporting leg assembly 5, so that the turning over operation is formed;
in contrast, when the robot is turned over in the right direction, the water in the second water chamber 22 can be pumped by the water pump 18, and discharged into the fourth water chamber 24, so that the water sources are filled in the third water chamber 23 and the fourth water chamber 24, the forward tilting tendency of the robot is improved, and the subsequent extension and contraction of the leg assembly 5 are facilitated, so that the turning over work is formed.
It should be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An automatic ship body cleaning robot with a crossing function comprises a main support (1) and a cleaning trolley (2), and is characterized in that: the novel dust collector comprises a main support (1), and is characterized in that a sleeve (3) is fixedly connected to the bottom of the main support (1), two rotating plates (4) are rotatably connected to the two ends of the sleeve (3), four movable and telescopic support leg assemblies (5) are fixedly installed on the outer side faces of the rotating plates (4), rotating pieces for rotationally driving the two rotating plates (4) are arranged inside the sleeve (3), a motor (6) connected with the rotating pieces is fixedly connected to the top of the main support (1), four fixing plates (7) are fixedly connected to the bottom of the main support (1), movable plates (8) are fixedly connected between the bottoms of the four fixing plates (7), two Z-shaped guide rails (9) are hinged to the two sides of the top of each movable plate (8), four Z-shaped guide rails (9) are symmetrically arranged, adjusting pieces for fan-shaped driving the four Z-shaped guide rails (9) are arranged on the movable plates (8), and two groups of support leg assemblies (5) are provided with miniature dust collectors for detecting the boundaries of a ship body and the two groups of support leg assemblies.
2. An automated hull cleaning robot with a roll-over function according to claim 1, characterized in that: the adjusting piece comprises four steering gears (10) used for driving the Z-shaped guide rails (9), the four steering gears (10) are fixedly arranged on two sides of the movable plate (8) in pairs, and output shafts of the four steering gears (10) are fixedly connected with hinged ends of the four Z-shaped guide rails (9) respectively.
3. An automated hull cleaning robot with a roll-over function according to claim 3, characterized in that: both sides at the top of the movable plate (8) are fixedly connected with auxiliary guide rails (11), and two ends of the two auxiliary guide rails (11) are respectively overlapped with the top ends of the four Z-shaped guide rails (9).
4. An automated hull cleaning robot with a roll-over function according to claim 1, characterized in that: two groups of guide rail wheels (12) are arranged on two sides of the cleaning trolley (2), and control pieces for driving the four groups of guide rail wheels (12) to rotate are arranged in the cleaning trolley (2).
5. An automated hull cleaning robot with a roll-over function according to claim 1, characterized in that: the rotating piece comprises a rotating shaft (13) which rotates inside the sleeve (3), two ends of the rotating shaft (13) are fixedly connected with inner side faces of the two rotating plates (4) respectively, a first conical gear (14) is fixedly connected to the outer surface of the rotating shaft (13), a second conical gear (15) is fixedly connected to an output shaft of the motor (6), the outer surface of the second conical gear (15) is meshed with the outer surface of the first conical gear (14), and an opening for the output shaft of the motor (6) to penetrate is formed in the outer surface of the sleeve (3).
6. An automated hull cleaning robot with a roll-over function according to claim 1, characterized in that: the landing leg subassembly (5) including being fixed in cover frame (51) of rotor plate (4) lateral surface, the spout has been seted up to the inside of cover frame (51), the inside of cover frame (51) is through spout sliding connection having expansion plate (52), the bottom of expansion plate (52) is provided with universal wheel (53), one side of cover frame (51) is provided with and is used for the driving piece to expansion plate (52) flexible drive.
7. An automated hull cleaning robot with a roll-over function according to claim 6, wherein: the driving piece comprises a first electric telescopic rod (54) fixed on the back of the sleeve frame (51) through a support, a connecting plate (55) is fixedly connected to the telescopic end of the first electric telescopic rod (54), and one side of the connecting plate (55) is fixed on one side of the telescopic plate (52).
8. An automated hull cleaning robot with a roll-over function according to claim 6, wherein: an unfolding assembly (16) is arranged in the telescopic plate (52), and a buffer piece (17) is arranged at the bottom of the telescopic plate (52);
the expansion assembly (16) comprises a movable groove formed in the bottom of the expansion plate (52), two gears (161) are rotatably connected in the movable groove, the rotation ends of the two gears (161) are fixedly connected with expansion plates (162), dust collection mechanisms (163) are arranged on the outer side faces of the two expansion plates (162), a second electric telescopic rod (164) is fixedly connected to the bottom of the inner wall of the movable groove, and a straight toothed plate (165) meshed with the outer surfaces of the two gears (161) is fixedly connected to the telescopic end of the second electric telescopic rod (164);
the buffer piece (17) is including being fixed in buffer section of thick bamboo (171) of expansion plate (52) bottom, the inside sliding connection of buffer section of thick bamboo (171) has protruding pole (172), and the bottom of protruding pole (172) extends to the bottom of buffer section of thick bamboo (171), and the bottom of protruding pole (172) is connected with universal wheel (53), fixedly connected with buffer spring (173) between the top of protruding pole (172) and the top of buffer section of thick bamboo (171) inner wall, and the surface of protruding pole (172) is provided with damping cover (174), and the bottom fixed connection of damping cover (174) and buffer section of thick bamboo (171).
9. An automated hull cleaning robot with a roll-over function according to claim 6, wherein: two sets of counterweight components are arranged on the main support (1), and counterweight ends of the two sets of counterweight components are respectively arranged at telescopic ends of the two sets of support leg components (5);
the counterweight component comprises a water pump (18) fixed at the top of the main support (1), a water suction port of the water pump (18) is fixedly connected with a water suction main pipe (19), a water outlet of the water pump (18) is fixedly connected with a water outlet main pipe (20), the outer side faces of expansion plates (52) in the four support components (5) are respectively fixedly connected with a first water cavity (21), a second water cavity (22), a third water cavity (23) and a fourth water cavity (24), and liquid is filled in the second water cavity (22) and the third water cavity (23);
the novel water pump is characterized in that the water absorbing branch pipes (25) are fixedly communicated with the inside of the first water cavity (21), the second water cavity (22), the third water cavity (23) and the fourth water cavity (24), the other ends of the four water absorbing branch pipes (25) are communicated with the inside of the water absorbing main pipe (19), the four water absorbing branch pipes (25) are provided with first electric switch valves (26), the inside of the first water cavity (21), the inside of the second water cavity (22), the inside of the third water cavity (23) and the inside of the fourth water cavity (24) are fixedly communicated with water outlet branch pipes (27), and the other ends of the four water outlet branch pipes (27) are communicated with the inside of the water outlet main pipe (20), and the four water outlet branch pipes (27) are provided with second electric switch valves (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310813093.9A CN116588273B (en) | 2023-07-04 | 2023-07-04 | Automatic ship body cleaning robot with turn-over function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310813093.9A CN116588273B (en) | 2023-07-04 | 2023-07-04 | Automatic ship body cleaning robot with turn-over function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116588273A true CN116588273A (en) | 2023-08-15 |
| CN116588273B CN116588273B (en) | 2024-03-26 |
Family
ID=87595933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310813093.9A Active CN116588273B (en) | 2023-07-04 | 2023-07-04 | Automatic ship body cleaning robot with turn-over function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116588273B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060003188A (en) * | 2004-07-05 | 2006-01-10 | 주식회사 한울로보틱스 | Automatic floor cleaner |
| CN105962855A (en) * | 2016-05-22 | 2016-09-28 | 武汉市享昱科技有限公司 | Glass curtain wall cleaning robot capable of crossing obstacles |
| CN206979446U (en) * | 2017-01-23 | 2018-02-09 | 北京嘉寓门窗幕墙股份有限公司 | A kind of leaping over obstacles outside Wall Cleaning machine people |
| CN108703713A (en) * | 2018-05-21 | 2018-10-26 | 西安工业大学 | A kind of stair dust-collecting robot and its method |
| CN109176461A (en) * | 2018-10-31 | 2019-01-11 | 北京林业大学 | Wheel leg type barrier-surpassing robot |
| CN211055346U (en) * | 2019-12-14 | 2020-07-21 | 青岛炬荣工程科技有限公司 | Hydraulic pressure ship scraper terminal removes auxiliary device |
| KR20210092395A (en) * | 2020-01-16 | 2021-07-26 | 삼성중공업 주식회사 | An apparatus for cleaning of ship |
| CN113509107A (en) * | 2021-07-26 | 2021-10-19 | 柳州工学院 | Telescopic stair corridor cleaning robot capable of automatically climbing stairs |
| CN113951769A (en) * | 2021-11-10 | 2022-01-21 | 周山山 | Automatic cleaning device for stairs |
| CN114794999A (en) * | 2022-03-28 | 2022-07-29 | 台州学院 | Bionic scorpion type cleaning robot |
| CN114903376A (en) * | 2022-05-16 | 2022-08-16 | 南京理工大学 | Self-adaptive stair cleaning robot |
| CN115991268A (en) * | 2023-03-24 | 2023-04-21 | 淄博首拓环境科技有限公司 | Environment-friendly cleaning device for ship production |
-
2023
- 2023-07-04 CN CN202310813093.9A patent/CN116588273B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060003188A (en) * | 2004-07-05 | 2006-01-10 | 주식회사 한울로보틱스 | Automatic floor cleaner |
| CN105962855A (en) * | 2016-05-22 | 2016-09-28 | 武汉市享昱科技有限公司 | Glass curtain wall cleaning robot capable of crossing obstacles |
| CN206979446U (en) * | 2017-01-23 | 2018-02-09 | 北京嘉寓门窗幕墙股份有限公司 | A kind of leaping over obstacles outside Wall Cleaning machine people |
| CN108703713A (en) * | 2018-05-21 | 2018-10-26 | 西安工业大学 | A kind of stair dust-collecting robot and its method |
| CN109176461A (en) * | 2018-10-31 | 2019-01-11 | 北京林业大学 | Wheel leg type barrier-surpassing robot |
| CN211055346U (en) * | 2019-12-14 | 2020-07-21 | 青岛炬荣工程科技有限公司 | Hydraulic pressure ship scraper terminal removes auxiliary device |
| KR20210092395A (en) * | 2020-01-16 | 2021-07-26 | 삼성중공업 주식회사 | An apparatus for cleaning of ship |
| CN113509107A (en) * | 2021-07-26 | 2021-10-19 | 柳州工学院 | Telescopic stair corridor cleaning robot capable of automatically climbing stairs |
| CN113951769A (en) * | 2021-11-10 | 2022-01-21 | 周山山 | Automatic cleaning device for stairs |
| CN114794999A (en) * | 2022-03-28 | 2022-07-29 | 台州学院 | Bionic scorpion type cleaning robot |
| CN114903376A (en) * | 2022-05-16 | 2022-08-16 | 南京理工大学 | Self-adaptive stair cleaning robot |
| CN115991268A (en) * | 2023-03-24 | 2023-04-21 | 淄博首拓环境科技有限公司 | Environment-friendly cleaning device for ship production |
Non-Patent Citations (1)
| Title |
|---|
| 蔡卫国;汪静;董利锋;魏鸿磊;: "适于水下船体的爬壁机器人关键技术及其研究进展", 机器人技术与应用, no. 06, 30 November 2010 (2010-11-30), pages 18 - 22 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116588273B (en) | 2024-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101293541B (en) | Telecontrol wall-climbing cleaning robot | |
| CN104983369B (en) | A kind of facade cleaning robot system and its application method | |
| CN101480638B (en) | Manipulator type nozzle | |
| CN106821162A (en) | A kind of motor drives the robot of cleaning wall | |
| CN106143667A (en) | A kind of hinge-type metal wall work climbing robot | |
| CN105964573A (en) | Cantilever crane structure and solar cell panel cleaning vehicle | |
| CN203403383U (en) | Bidirectional guardrail cleaning tanker | |
| CN202356361U (en) | Deep-curvature glass washing machine | |
| CN102343344A (en) | Deep-curvature glass cleaning machine | |
| CN111345726B (en) | Glass curtain wall cleaning robot capable of automatically crossing obstacles and use method thereof | |
| CN116588273B (en) | Automatic ship body cleaning robot with turn-over function | |
| CN206554048U (en) | A kind of river way cleaning ship | |
| CN101744591B (en) | Water-spraying cleaning device of wall cleaning robot | |
| CN110466296A (en) | The amphibious intelligent mobile chassis in double drive source and its working method | |
| CN201371095Y (en) | Manipulator type nozzle | |
| CN202866347U (en) | Stereoscopic parking device | |
| CN109131241B (en) | Automatic cleaning device for window glass of bus | |
| CN109837878B (en) | Push type river channel environment treatment and decontamination method | |
| CN214420580U (en) | Wall-climbing robot for smooth plane | |
| CN114810518A (en) | Self-adaptive maintenance device for multifunctional wind generating set tower barrel | |
| CN201602718U (en) | Water injection cleaner of wall surface cleaning robot | |
| CN208808338U (en) | A kind of clean robot that can be traversing for glass curtain wall cleaning systems | |
| CN111661188B (en) | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method | |
| CN107495891A (en) | A kind of clean robot that can be traversing for glass curtain wall cleaning systems | |
| CN207795520U (en) | A kind of pump valve body structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |