CN106976002B - Wall-climbing cleaning robot for ship and naval vessel wall surface - Google Patents

Abstract

The invention discloses a wall-climbing cleaning robot for ships and warships, which includes a vehicle frame, on which a walking adaptive mechanism, a cleaning mechanism and a thrust adsorption mechanism are installed; On the tension wheel and the tension wheel; the tension wheel is connected with a telescopic adjustment mechanism; an adaptive mechanism is installed between the drive wheel and the tension wheel; the self-adaptive mechanism includes a spring, one end of the spring is connected to the frame, and the other end is connected to the The support plate is connected with the vehicle frame through the rotating shaft; the support plate is connected with the lower support plate through the steering gear, and the lower support plate is connected with the load-bearing wheels. The invention can make the load-bearing wheels and track shoes close to the wall surface of the ship to ensure the adsorption effect of the permanent magnet, and can adapt to various wall surfaces on the ship; it overcomes the limitation of single permanent magnet adsorption to overcome obstacles, material restrictions, etc.; The force is uniform, the bearing capacity is strong, and the strength is high, which can achieve a good balance and improve the cleaning efficiency.

Description

A wall-climbing cleaning robot for ships and warships

technical field

The invention belongs to the field of machinery, and in particular relates to a wall-climbing cleaning robot for ships and warships.

Background technique

There are varying degrees of problems in traditional cleaning machine methods. Manual cleaning is time-consuming and labor-intensive, and the working conditions of the cleaning personnel are poor, which does not conform to the automation trend of today's society; chemical cleaning can easily lead to greater pollution of the marine ecological environment, and the cleaning effect of high-pressure water jets is limited and consumes a lot of energy , while the traditional robotic single-brush cleaning will vibrate with the surface during work, which is limited by the surface conditions. The cleaning methods of modern cleaning ship robots are mainly developed abroad.

NASA and the Jet Propulsion Laboratory of the California Institute of Technology (NASA-JPL) have developed the M series of wall-climbing robots used to carry ship derusting cleaners, but the permanent magnet adsorption used by such robots is demagnetized or demagnetized during work. When encountering a non-ferromagnetic surface, there will be a situation where it cannot be adsorbed, and the adsorption force is greatly affected by the magnetic condition. The use of high-pressure water gun injection results in a large working load and affects the adsorption effect.

NASA-JPL and Carnegie-Mellon University Robotics Research Institute have developed titanium alloy and other composite materials used in M3500 type robots, as well as joint-shaped adaptation mechanisms, which have comprehensive and excellent cleaning effects, and the mechanical structure is relatively complex and the cost of materials is high. .

Flow Corporation developed the Hydro-Cat and Hydro-Crawler. The vacuum adsorption structure adopted by the Hydro-Cat robot makes the adsorption difficult, and relies on the shape of the hull surface to avoid damage caused by vacuum conditions. Tracked walking without an adaptive mechanism will lead to unreliable walking adsorption.

The French company Cybernetix has developed the permanent magnetic adsorption structure that the Octopus robot still uses, which may also cause unreliable adsorption due to demagnetization. The wheeled walking mode has good obstacle surmountability, but the walking reliability is low.

Professor Iborra from the DSIE Research Office of Cartagena University of Technology in Spain developed a rail-mounted cantilever-mounted wall-climbing rust removal robot EFTCOR. EFTCOR has certain limitations due to the need to overlap the track and can only clean larger flat surfaces on the side.

Wang Hongguang, Shenyang Institute of Automation, Chinese Academy of Sciences and others have successfully developed a variety of wall-climbing robots. A new wheel-foot composite wall-climbing robot has been developed, and the research on walking is more in-depth, but the research conditions are not underwater, and it is not a robot for cleaning.

Yi Zhengyao of Dalian Maritime University and others have developed two generations of wall-climbing robots for carrying ship derusting cleaners that lack an adaptive structure and adopt a single cleaning brush structure, resulting in unstable work and prone to problems such as vibration and noise.

To sum up, the current research on wall-climbing cleaning robots mainly adopts permanent magnet or electromagnetic adsorption, which leads to unreliable adsorption due to degaussing. At the same time, the design of self-adaptive structure is lacking, the existing crawler can not adapt to the body surface of larger curvature ship, and its clean structure can not adapt to the structure of the curved surface of the hull.

Contents of the invention

In order to solve the above problems, the present invention provides a wall-climbing cleaning robot for ships and warships. The invention can make the load-bearing wheel and the crawler shoe close to the wall of the ship to ensure the adsorption effect of the permanent magnet, ensure the adsorption reliability and driving safety of the crawler mechanism, and can adapt to various walls on the ship; Limits, material limitations, etc.; the cleaning area is large, the force is uniform, the bearing capacity is strong, and the strength is high, which can achieve a good balance and improve the cleaning efficiency.

For reaching above-mentioned technical effect, technical scheme of the present invention is:

A wall-climbing cleaning robot for ships and warships includes a vehicle frame on which a walking self-adaptive mechanism, a cleaning mechanism and a thrust adsorption mechanism are installed.

As a further improvement, the self-adaptive walking mechanism includes crawlers, and the crawlers are sleeved on the driving wheel and the tensioning wheel; the tensioning wheel is connected with a telescopic adjustment mechanism; an adaptive mechanism is installed between the driving wheel and the tensioning wheel; The self-adaptive mechanism includes a spring, one end of the spring is connected to the vehicle frame, the other end is connected to the upper support plate, and the support plate is connected to the vehicle frame through a rotating shaft; the support plate is connected to the lower support plate through the steering gear, and the lower support plate is connected to the load-bearing wheel;

The spring provides pre-tightening force for the upper support plate so that the upper support plate rotates around the shaft and then drives the load-bearing wheel to rotate, so that the load-bearing wheel fits the support track; Drive the lower support plate to rotate, so as to achieve a close fit with the depression of the hull; when encountering a bulge, the steering gear drives the lower support plate to rotate in the opposite direction, so that the track and the maintenance are closely attached to the bulge; in the flatness of the hull At the place, the telescopic adjustment mechanism drives the tension wheel to move backward and forward, and at the same time, the steering gear drives the lower support plate to return to its original position.

As a further improvement, the telescopic adjustment mechanism is a hydraulic cylinder; the frame is fixed with a limit pin that cooperates with the upper support plate; the limit pin is used to prevent the upper support plate from turning downwards and affect the terrain adaptation of the rotation of the lower support plate function, retaining the damping function of the spring when encountering an obstacle; the upper support plate is formed with an arc-shaped groove that cooperates with the limit pin.

As a further improvement, the frame is also equipped with a supporting sprocket that matches the track

As a further improvement, the track chain plate of the track is fixed with a permanent magnet through a permanent magnet support frame; the lower support plate is connected to the load-bearing wheel through the first bearing, and the load-bearing wheel end cover is fixed on the load-bearing wheel; The second bearing; the driving wheel is connected with a driving wheel motor; the cleaning mechanism is connected with a cleaning mechanism motor.

As a further improvement, there are no less than two adaptive mechanisms.

As a further improvement, the thrust adsorption mechanism is a propeller, and the propeller is connected with a propeller motor.

As a further improvement, there are two propellers and they are respectively located on both sides of the vehicle frame.

As a further improvement, the cleaning mechanism includes a sun gear and a planetary carrier; a planetary gear meshes between the sun gear and the planetary carrier, and a cleaning brush is connected to the planetary gear.

As a further improvement, an adjustment spring is installed between the planetary gear and the cleaning brush.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the top view structure schematic diagram of the present invention;

Fig. 3 is the structural representation of walking self-adaptive mechanism;

Fig. 4 is the structural representation of adaptive mechanism;

Fig. 5 is a structural schematic diagram of the cleaning mechanism.

Detailed ways

The technical solutions of the present invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings.

Example 1

A wall-climbing cleaning robot for ships and warships as shown in Figures 1-2 includes a frame 1 on which a walking adaptive mechanism 2 , a cleaning mechanism 3 and a thrust adsorption mechanism 4 are installed.

As shown in Figures 3 and 4, the walking adaptive mechanism 2 includes a crawler belt 5, and the crawler belt 5 is sleeved on the driving wheel 6 and the tensioning wheel 7; the tensioning wheel 7 is connected with a telescopic adjustment mechanism 8, and the telescopic adjustment mechanism 8 is a hydraulic Oil cylinders or other telescopic devices, such as cylinders, etc. An adaptive mechanism is installed between the driving wheel 6 and the tensioning wheel 7; the adaptive mechanism includes a spring 9, one end of the spring 9 is connected to the vehicle frame 1, and the other end is connected to the upper support plate 10, and the support plate 10 is connected to the vehicle frame 1 shaft through the rotating shaft 14. Connect; the support plate 10 is connected with the lower support plate 12 through the steering gear 11, and the lower support plate 12 is connected with the load-bearing wheel 13;

The spring 9 provides pre-tightening force for the upper support plate 10 so that the upper support plate 10 rotates around the rotating shaft 14 and then drives the load-bearing wheel 13 to rotate, so that the load-bearing wheel 13 fits the support track 5; when encountering a depression, the telescopic adjustment mechanism 8 drives the tension The wheel 7 moves backward, and at the same time, the steering gear 11 drives the lower support plate 12 to rotate, thereby realizing a close fit with the depression of the hull; Keep close fit with the raised part; in the flat part of the hull, the telescopic adjustment mechanism 8 drives the tension wheel 7 to move backward and forward, and the steering gear 11 drives the lower support plate 12 to return to its original position.

The robot releases or constrains the degree of freedom of the support plate through the control of the steering gear according to the driving requirements. Controlling the expansion and contraction of the double support plates makes the bearing wheels and track shoes close to the wall of the ship to ensure the adsorption effect of the permanent magnets. The mechanism combines the spring hydraulic device to ensure the adsorption reliability and driving safety of the crawler mechanism, and can adapt to various walls on the ship. When moving on a plane, the upper support plate 10 and the lower support plate 12 are arranged obliquely.

The support sprocket 15 that cooperates with crawler belt 5 is also installed on the vehicle frame 1 . The track chain plate 16 of the crawler belt 5 is fixed with a permanent magnet 18 through a permanent magnet support frame 17; the lower support plate 12 is connected to the load wheel 13 through the first bearing 19, and the load wheel end cover 21 is fixed on the load wheel 13; The second bearing 20; the driving wheel 6 is connected with a driving wheel motor 601; the cleaning mechanism 3 is connected with a cleaning mechanism motor 301. There are no less than two adaptive mechanisms, and three are selected in this embodiment, so that the crawler belt can adapt to various terrains as a whole.

The frame 1 is fixed with a limit pin 22 that cooperates with the upper support plate 10; the limit pin 22 is used to prevent the upper support plate 10 from turning downwards and affect the terrain adaptation function of the lower support plate 12, and retains the function of meeting obstacles. When the damping function of spring 9. The upper support plate 10 is formed with an arc-shaped groove matching with the limit pin 22 .

As shown in FIG. 1 , the thrust adsorption mechanism 4 is a propeller, and the propeller is connected with a propeller motor. There are two propellers and they are located on both sides of the vehicle frame 1 respectively. The permanent magnet adsorption is combined with the adsorption method of the propeller thrust adsorption mechanism. Improve the reliability and work stability of the robot in different environments. The robot relies on magnetic force to attach the robot to the wall. The wall-climbing robot of the magnetic adsorption method requires that the wall surface must be made of magnetically conductive material, but the structure is simple, and it has strong adaptability to the unevenness of the wall surface. When the robot touches the degaussing material during driving, the permanent magnetic adsorption force will partially fail. In order to ensure that the robot will not peel off from the wall, the negative pressure adsorption generated by the propeller is a way to rely on the negative pressure of the airflow to press the robot to the wall to generate negative pressure. In addition to generating the normal force that presses the robot to the wall, it also relies on its wall tangential component to make the robot move forward against its own gravity and wall friction. It overcomes the limitations of single permanent magnet adsorption for obstacle crossing, material limitations and other effects. A double helix is used to ensure force balance and movement balance.

As shown in FIG. 5 , the cleaning mechanism 3 includes a sun gear 302 and a planetary carrier 303 ; a planetary gear 304 meshes between the sun gear 302 and the planetary carrier 303 , and a cleaning brush 305 is connected to the planetary gear 304 . An adjustment spring 306 is installed between the planetary gear 304 and the cleaning brush 305 . The sun gear 302 is connected with the planetary gear 304 through the third bearing 307; the shaft retaining ring 308 is sleeved on the sun gear 302; the sun gear is connected with the sun gear shaft 309, and the sun gear shaft 309 is meshed with the bevel gear shaft 310, and the bevel gear shaft 310 is connected to clean Mechanism motor 301.

In this way, the sun gear 302 drives the planetary gear 304 to revolve, and the planetary gear 304 rotates by the power of the meshing teeth, and the hull is derusted evenly by combining the revolution and rotation. A brush plate is connected to the lower end of the planetary gear, and a spring device is installed axially, and the spring has a certain pretightening force. This structure enables the brush plate to move along the axial direction, keeps the brush wire close to the surface of the hull, and provides a certain positive pressure to ensure the smooth progress of rust removal. The cleaning operation is completed while the robot is driving. Compared with the general single brush disc, this mechanism has a large cleaning area, uniform force, strong bearing capacity and high strength, which can achieve a good balance and improve the cleaning efficiency.

The robot is controlled by the control system, and the control system uses 51 single-chip microcomputer system, which is the core to realize the robot motion control. It processes the signals according to the signals received by various sensors during the robot's driving process, performs path planning on the transmitted initialization parameters and action instructions, and drives two deceleration stepping motors (drive wheel motor 601), thereby controlling the movement of the robot Obtain the feedback signal of the inclination sensor, control the attitude of the robot, prevent the trajectory of the left and right crawler tracks of the robot from being different when the robot moves due to the unevenness of the hull surface, and cause the robot to crawl and deviate, so as to ensure that the robot walks along the specified path. Drive common underwater motor (cleaning mechanism motor 301), finish the operation of cleaning mechanism. The stepper motor that drives the propeller can realize the auxiliary adsorption of the propeller thrust mechanism when necessary. When encountering obstacles and depressions that cannot be crossed, the infrared sensor receives signals and feeds them back to the control center to direct the movement of the robot. Use the visualization system to judge the cleaning effect to determine whether a second cleaning is required.

The above is only a specific guiding implementation of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial changes made to the present invention by using this concept should be an act of violating the protection scope of the present invention.

Claims (8)

1. A wall climbing cleaning robot for the wall surface of a ship or a naval vessel comprises a frame (1) and is characterized in that a walking self-adaptive mechanism (2), a cleaning mechanism (3) and a thrust adsorption mechanism (4) are mounted on the frame (1); the walking self-adaptive mechanism (2) is characterized by comprising a crawler belt (5), wherein the crawler belt (5) is sleeved on a driving wheel (6) and a tension wheel (7); the tensioning wheel (7) is connected with a telescopic adjusting mechanism (8); a self-adaptive mechanism is arranged between the driving wheel (6) and the tension wheel (7); the self-adaptive mechanism comprises a spring (9), one end of the spring (9) is connected with the frame (1), the other end of the spring is connected with an upper supporting plate (10), and the upper supporting plate (10) is in shaft connection with the frame (1) through a rotating shaft (14); the upper supporting plate (10) is connected with a lower supporting plate (12) through a steering engine (11), and the lower supporting plate (12) is connected with a bearing wheel (13);

the spring (9) provides pretightening force for the upper supporting plate (10) so that the upper supporting plate (10) rotates around the rotating shaft (14) to drive the bearing wheel (13) to rotate, and the bearing wheel (13) is attached to the supporting crawler (5); when the boat body is sunken, the telescopic adjusting mechanism (8) drives the tension pulley (7) to move backwards, and meanwhile, the steering engine (11) drives the lower supporting plate (12) to rotate, so that the boat body is tightly attached to the sunken part of the boat body; when the crawler belt is in a bulge state, the steering engine (11) drives the lower supporting plate (12) to rotate reversely, so that the crawler belt (5) is kept in close fit with the bulge; at the flat part of the ship body, a telescopic adjusting mechanism (8) drives a tension pulley (7) to move backwards and forwards, and meanwhile, a steering engine (11) drives a lower supporting plate (12) to return to the original position; the thrust adsorption mechanism (4) is a propeller, and the propeller is connected with a propeller motor.

2. The robot for cleaning the wall surface of the ship and warship according to claim 1, wherein the telescopic adjusting mechanism (8) is a hydraulic oil cylinder; a limiting pin (22) matched with the upper supporting plate (10) is fixed on the frame (1); the limiting pin (22) is used for preventing the upper supporting plate (10) from rotating downwards to influence the terrain adaptation function of the lower supporting plate (12) to rotate, and the damping function of the spring (9) when an obstacle is met is reserved; an arc-shaped groove matched with the limiting pin (22) is formed on the upper supporting plate (10).

3. A vessel wall-climbing cleaning robot as claimed in claim 1, characterized in that the frame (1) is further equipped with a carrier sprocket (15) cooperating with the crawler (5).

4. The ship vessel wall climbing cleaning robot as claimed in claim 1, characterized in that the track link plates (16) of the track (5) are fixed with permanent magnets (18) through permanent magnet support frames (17); the lower supporting plate (12) is connected with a bearing wheel (13) through a first bearing (19), and a bearing wheel end cover (21) is fixed on the bearing wheel (13); a second bearing (20) is sleeved outside the rotating shaft (14); the driving wheel (6) is connected with a driving wheel motor (601); the cleaning mechanism (3) is connected with a cleaning mechanism motor (301).

5. The robot of claim 1, wherein the number of said adaptive mechanisms is not less than two.

6. The robot for cleaning the wall surface of the ship and warship according to claim 1, wherein the number of the propellers is two and the propellers are respectively positioned at two sides of the frame (1).

7. The vessel wall climbing cleaning robot according to claim 1, characterized in that the cleaning mechanism (3) comprises a sun gear (302) and a planet carrier (303); a planetary gear (304) is meshed between the sun gear (302) and the planet carrier (303), and the planetary gear (304) is connected with a cleaning brush (305).

8. The robot for cleaning the wall of the naval vessel according to claim 7, wherein an adjusting spring (306) is installed between the planetary gear (304) and the cleaning brush (305).

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