阅读说明：本技术 一种多功能船体维护车 (A kind of multi-functional hull maintenance cart ) 是由 智鹏飞 张浩哲 张常钊 刘顺林 蒋泽群 武冠华 于 2019-08-23 设计创作，主要内容包括：本发明公开了一种多功能船体维护车,包括：车体、行走机构、清洁机构、高压水枪清洁机构、循迹路径规划模块、探伤机构和能量传输脐带；两组所述行走机构对称设置在所述车体的两侧的下部,所述清洁机构与所述车体前部相连,所述高压水枪清洁机构设置在所述车体前侧的下部,所述循迹路径规划模块设置在所述车体的底部,所述探伤机构设置在所述车体后侧的底部,所述能量传输脐带的一端与所述车体相连,所述能量传输脐带的另一端与电源相连。本发明的有益效果为：探伤二合一,使用方便,工作效率高,清洁效果好的船体维护小车,在船体不离开水体的情况下,对船体进行高效的清洁和探伤,并且将数据传送回地面上的上位机供工人处理,从而解决了船体维护工作繁琐,效率低下,成本高昂的问题。(The invention discloses a kind of multi-functional hull maintenance carts, comprising: car body, walking mechanism, cleaning mechanism, giant cleaning mechanism, tracking path planning module, flaw detection mechanism and energy transmission umbilical cord；Walking mechanism described in two groups is symmetricly set on the lower part of the two sides of the car body, the cleaning mechanism is connected with the Vehicular body front, the lower part on front side of the car body is arranged in the giant cleaning mechanism, the bottom of the car body is arranged in the tracking path planning module, the bottom on rear side of the car body is arranged in the flaw detection mechanism, one end of the energy transmission umbilical cord is connected with the car body, and the other end of the energy transmission umbilical cord is connected with power supply.The invention has the benefit that flaw detection is two-in-one, it is easy to use, work efficiency is high, the good hull maintaining car of cleaning effect is efficiently cleaned and is detected a flaw to hull in the case where hull is without departing from water body, and the host computer that data transmission is returned on ground is handled for worker, cumbersome, inefficiency, problem with high costs to solve hull maintenance work.)

1. a kind of multi-functional hull maintenance cart, it is characterised in that: including car body (1), walking mechanism (2), cleaning mechanism (3), height Press hydraulic giant cleaning mechanism (4), tracking path planning module (5), flaw detection mechanism (6), energy transmission umbilical cord (7) and host computer；Two The group walking mechanism (2) is symmetricly set on the lower part of the two sides of the car body (1), the cleaning mechanism (3) and the car body (1) front is connected, the lower part that the giant cleaning mechanism (4) is arranged on front side of the car body (1), the tracking path rule The bottom that module (5) setting is arranged on rear side of the car body (1) in the bottom of the car body (1), flaw detection mechanism (6) is drawn, One end of the energy transmission umbilical cord (7) is connected with the car body (1), the other end and power supply of the energy transmission umbilical cord (7) And host computer is connected.

2. a kind of multi-functional hull maintenance cart according to claim 1, which is characterized in that the walking mechanism (2) is also wrapped Wheel (21), crawler belt (22), electromagnet (23) and Athey wheel limit switch (24) are included, multiple wheels (21) are arranged described The inside of crawler belt (22), for driving the crawler belt (22) to move；The electromagnet is provided on the crawler belt (22) (23) and Athey wheel limit switch (24).

3. a kind of multi-functional hull maintenance cart according to claim 1, which is characterized in that the cleaning mechanism (3) includes Cleaning roller (31), the arm of force one (32), the arm of force two (33), direct current generator (34), steering engine one (35) and steering engine two (36)；It is described clear The side of clean roller (31) is connected with the direct current generator (34), and the other side of the cleaning roller (31) passes through bearing and one The arm of force one (32) is connected, and the direct current generator (34) is connected with the arm of force one (32) described in another；Two arm of forces one (32) it is connected respectively by steering engine one (35) with two arm of forces two (33)；Two arm of forces two (33) are respectively by described Steering engine two (36) is connected to the two sides of the car body (1).

4. a kind of multi-functional hull maintenance cart according to claim 1, which is characterized in that the giant cleaning mechanism It (4) include giant nozzle (41), the arm of force five (42), the arm of force six (43), steering engine five (44), steering engine six (45), booster water pump (46) and pressure tank (47), it is connected with wide giant nozzle (41) with one end of the arm of force five (42) with car body (1), the arm of force Five (42) are connected the arm of force six (43) and steering engine six (45) phase for being fixed on car body (1) by steering engine five (44) with the arm of force six (43) Even；Booster water pump (46) is located at the inside of car body (1), and the booster water pump (46) is connected through pipeline with pressure tank (47), institute It states pressure tank (47) and is connected through pipeline with giant nozzle (41).

5. a kind of multi-functional hull maintenance cart according to claim 1, which is characterized in that the RFID sensor (5) is also Including by the arm of force three (51), steering engine three (52), RFID read-write sensor (53) and ultrasonic distance sensor (54)；The RFID Read-write sensor (53) and the ultrasonic distance sensor (54) are connected with the arm of force three (51) respectively, the arm of force three (51) and steering engine Three (52) are connected, and the steering engine three (52) is connected on the car body (1)；The ultrasonic distance sensor (54) is located at described RFID read-write sensor (53) front and the inclination angle for being provided with forward downward.

6. a kind of multi-functional hull maintenance cart according to claim 1, which is characterized in that the x-ray inspection sensor It (6) further include sensor (61), steering engine four (62) and the arm of force four (63)；The sensor (61) and the arm of force four (63) phase Even, the arm of force four (63) is connected with steering engine four (62), and the steering engine four (62) is connected on the car body (1).

7. a kind of multi-functional hull maintenance cart according to any one of claims 1 to 6, which is characterized in that the car body (1) Inside further includes stm32 main control module (11), power management module (12), motor drive module (13), electromagnetic drive module (14) and gear power transmission case (15)；The stm32 main control module (11) is for handling data and for controlling each module Operation；The power management module (12) is each module for power supply；The motor drive module (13) and the gear power transmission Case (15) is connected, and the motor drive module (13) is defeated by power by the gear power transmission case (15), drives crawler belt (22) it operates；The electromagnetic drive module (14) is for controlling electromagnet (23).

Technical field

The present invention relates to ship machinery fields, are specifically related to a kind of multi-functional hull maintenance cart.

Background technique

Since hull impregnates in the seawater throughout the year, hull surface can grow many mosses, the sea hydrobionts such as seaweed.It is not Disconnected accumulation will affect frictional force when hull advances to influence the movement of hull, and can generate over time to hull can not The corrosion damage of reparation.In addition hull is subjected to the impact of seawater wave throughout the year, can impact to generating at Hull Welding, once occur Problem will cause extremely serious consequence, and the cleaning of hull is essential！Currently, the cleaning of hull usually needs It wants hull to transport dock, takes time and effort and there are the risk of higher secondary damage, diver's dive cleaning and maintenance then has Underwater work is dangerous, the high disadvantage of human cost.

Summary of the invention

For the deficiency in the maintenance practical operation of existing hull, the present invention provides a kind of cleaning and detects a flaw two-in-one, make With convenient, work efficiency is high, the good hull maintaining car of cleaning effect, in the case where hull is without departing from water body, to hull into The efficient cleaning of row and flaw detection, and the host computer that data transmission is returned on ground is handled for worker, to solve hull dimension Protect intricate operation, inefficiency, problem with high costs.

To achieve the above object, the technical solution of the present invention is as follows: a kind of multi-functional hull maintenance cart, including car body, walking Mechanism, cleaning mechanism, giant cleaning mechanism, tracking path planning module, flaw detection mechanism, energy transmission umbilical cord and upper Machine；Walking mechanism described in two groups is symmetricly set on the lower part of the two sides of the car body, the cleaning mechanism and the Vehicular body front It is connected, the lower part on front side of the car body is arranged in the giant cleaning mechanism, and the tracking path planning module setting exists The bottom of the car body, the flaw detection mechanism are arranged in the bottom on rear side of the car body, one end of the energy transmission umbilical cord with The car body is connected, and the other end of the energy transmission umbilical cord is connected with power supply and host computer.

Preferably, the walking mechanism further includes wheel, crawler belt, electromagnet and Athey wheel limit switch, multiple vehicles The inside of the crawler belt is arranged in wheel, for driving the caterpillar drive；Be provided on the crawler belt electromagnet and Athey wheel limit switch.Electromagnet, which is powered, generates suction, and no power suction disappears.There are two limit switches for front and back Athey wheel, small At runtime, track section will drive limit switch and floats up and down vehicle, every to pass through a section crawler belt, and meeting trigger switch is primary.Before The limit switch triggering of wheel is primary, and the crawler belt of previous section is electrically energized generation suction, and the limit switch triggering of rear-wheel is primary, latter The crawler belt of section will power down so that suction is disappeared

Preferably, the cleaning mechanism includes cleaning roller, the arm of force one, the arm of force two, direct current generator, steering engine one and steering engine two；Institute The side for stating cleaning roller is connected with the direct current generator, and the other side of the cleaning roller passes through bearing and the arm of force One is connected, and the direct current generator is connected with the arm of force one described in another；Two arm of forces one pass through steering engine one and two respectively The arm of force two is connected；Two arm of forces two are connected to the two sides of the car body by the steering engine two respectively.The cleaning Cylinder surface rotates driven by the motor, and steering engine and the arm of force are used to control the angle of cleaning roller.

Preferably, the giant cleaning mechanism includes giant nozzle, the arm of force five, the arm of force six, steering engine five, steering engine Six, booster water pump and pressure tank are connected with wide giant nozzle with one end of the arm of force five with car body, and the arm of force five passes through rudder Machine five is connected the arm of force six with the arm of force six and fixed steering engine six on the car body is connected；Booster water pump is located at the inside of car body, described Booster water pump is connected through pipeline with pressure tank, and the pressure tank is connected through pipeline with giant nozzle.Hull surface warp After the cleaning of cleaning roller, the residual dirt on hull is cleaned up with giant.

Preferably, the RFID sensor further includes by the arm of force three, steering engine three, RFID read-write sensor and ultrasonic distance Sensor；The RFID read-write sensor and the ultrasonic distance sensor are connected with the arm of force three respectively, the arm of force three and steering engine Three are connected, and the steering engine three is connected on the car body；The ultrasonic distance sensor is located at the RFID read-write sensor Front and the inclination angle for being provided with forward downward.

Preferably, the x-ray inspection sensor further includes sensor, steering engine four and the arm of force four；The sensor and institute It states the arm of force four to be connected, the arm of force four is connected with steering engine four, and the steering engine four is connected on the car body.

Preferably, the vehicle body further includes stm32 main control module, power management module, motor drive module, electricity Magnetic driving module and gear power transmission case；The stm32 main control module is used to handle data and the fortune for controlling each module Row；The power management module is each module for power supply；The motor drive module is connected with the gear power transmission case, described Motor drive module is defeated by power by the gear power transmission case, drives crawler belt operating；The electromagnetic drive module is used for Control electromagnet.

Motion planning of the invention is broadly divided into global path planning and optimum path planning.Path planning relies primarily on ship The RFID label tag in body surface face, the RFID on multifunctional dolly read sensor, host computer and path planning algorithm.Global path rule Path pre-planning is carried out by manually successively clicking label in host computer in cost-effective method, after completion, is safeguarded by multi-functional hull RFID on trolley reads sensor (54) and reads trolley current location information, calculates next RFID that will be reached by single-chip microcontroller Label position, if trolley needs to keep straight on, driving motor moves ahead, if necessary to turn, then real by the differential of two sides crawler belt Now turn.During trolley traveling, current position signal is passed back to by trolley by data transmission umbilical cord (7) in real time Position machine.Cleaning effect that optimum path planning then needs aforementioned ultrasonic wave sensor (54) to be passed back to and while the global road passed back The confluence analysis of diameter planned position information.Available pending secondary clean region after integration.It is specified when progress is artificial Later, first by RFID read sensor (54) obtain current location information, obtained after optimum path planning algorithms fastest to It is executed up to the path of designated position, and by MCU driving motor, after secondary cleaning is completed, trolley is returned to originally It awaits orders position.

The invention has the benefit that flaw detection is two-in-one, easy to use, work efficiency is high, the good hull dimension of cleaning effect Shield trolley is efficiently cleaned and is detected a flaw to hull in the case where hull is without departing from water body, and returns to ground for data transmission Host computer on face is handled for worker, so that it is cumbersome to solve hull maintenance work, inefficiency, problem with high costs.

Detailed description of the invention

In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing The present invention is described in further detail.

Fig. 1 is the connection schematic diagram of each module in the car body.

Fig. 2 is overall schematic of the present invention.

Fig. 3 is side view of the invention.

Fig. 4 is rearview of the invention

Fig. 5 is the schematic diagram of the RFID sensor.

Fig. 6 is the structural schematic diagram of giant nozzle.

Fig. 7 is the schematic diagram of the crawler belt and Athey wheel limit switch.

Fig. 8 is global path planning flow chart of the present invention.

Fig. 9 is optimum path planning flow chart of the present invention.

Wherein: 1- car body, 2- walking mechanism, 3- cleaning mechanism, 4- giant cleaning mechanism, 5- tracking path planning mould Block, 6- flaw detection mechanism, 7- energy transmission umbilical cord, 21- wheel, 22- crawler belt, 23- electromagnet, 24- Athey wheel limit switch, 31- Cleaning roller, the 32- arm of force one, the 33- arm of force two, 34- direct current generator, 35- steering engine one, 36- steering engine two, 41- giant nozzle, The 42- arm of force five, the 43- arm of force six, 44- steering engine five, 45- steering engine six, 46- booster water pump, 47- pressure tank, the 51- arm of force three, 52- Steering engine three, 53-RFID read-write sensor, 54- ultrasonic distance sensor, 61- sensor, 62- steering engine four, the 63- arm of force four, 11-stm32 main control module, 12- power management module, 13- motor drive module, 14- electromagnetic drive module, 15- gear power Transmission case.

Specific embodiment

As shown in Figures 1 and 3, a kind of multi-functional hull maintenance cart of the present invention, including car body 1, walking mechanism 2, Cleaning mechanism 3, giant cleaning mechanism 4, tracking path planning module 5, flaw detection mechanism 6 and energy transmission umbilical cord 7；Two groups of institutes The lower part that walking mechanism 2 is symmetricly set on the two sides of the car body 1 is stated, the cleaning mechanism 3 is connected with 1 front of car body, The lower part of 1 front side of car body is arranged in the giant cleaning mechanism 4, and the tracking path planning module 5 is arranged in institute The bottom of car body 1 is stated, the bottom of 1 rear side of car body, one end of the energy transmission umbilical cord 7 is arranged in the flaw detection mechanism 6 It is connected with the car body 1, the other end of the energy transmission umbilical cord 7 is connected with power supply.

As shown in Fig. 2 and Fig. 7, the walking mechanism 2 further includes that wheel 21, crawler belt 2, electromagnet 23 and Athey wheel limit are opened 24 are closed, the inside of the crawler belt 22 is arranged in multiple wheels 21, for driving the crawler belt 22 to move；In the crawler belt 22 On be provided with the electromagnet 23 and Athey wheel limit switch 24.

As shown in Fig. 2, the cleaning mechanism 3 includes cleaning roller 31, the arm of force 1, the arm of force 2 33, direct current generator 34, rudder Machine 1 and steering engine 2 36；The side of the cleaning roller 31 is connected with the direct current generator 34, the cleaning roller 31 it is another Side is connected by bearing with the arm of force 1, and the direct current generator 34 is connected with the arm of force 1 described in another；Two A arm of force 1 is connected by steering engine 1 with two arm of forces 2 33 respectively；Two arm of forces 2 33 pass through respectively The steering engine 2 36 is connected to the two sides of the car body 1.

As shown in fig. 6, the giant cleaning mechanism 4 include giant nozzle 41, the arm of force 5 42, the arm of force 6 43, Steering engine 5 44, steering engine 6 45, booster water pump 46 and pressure tank 47, with car body 1 with wide giant nozzle 41 and the arm of force five 42 one end is connected, and the arm of force 5 42 is connected the arm of force 6 43 and the steering engine that is fixed on car body 1 by steering engine 5 44 with the arm of force 6 43 6 45 are connected；Booster water pump 46 is located at the inside of car body 1, and the booster water pump 46 is connected through pipeline with pressure tank 47, described Pressure tank 47 is connected through pipeline with giant nozzle 41.

As shown in figure 5, the RFID sensor 5 further includes by the arm of force 3 51, steering engine 3 52,53 and of RFID read-write sensor Ultrasonic distance sensor 54；The RFID read-write sensor 53 and the ultrasonic distance sensor 54 respectively with the arm of force 3 51 It is connected, the arm of force 3 51 is connected with steering engine 3 52, and the steering engine 3 52 is connected on the car body 1；The ultrasonic distance sensing Device 54 is located at 53 front of RFID read-write sensor and is provided with the inclination angle of forward downward.

As shown in Figures 2 and 4, the x-ray inspection sensor 6 further includes sensor 61, steering engine 4 62 and the arm of force 4 63； The sensor 61 is connected with the arm of force 4 63, and the arm of force 4 63 is connected with steering engine 4 62, and the steering engine 4 62 is connected in institute It states on car body 1.

As shown in Fig. 2, further including stm32 main control module 11, power management module 12, motor drive inside the car body 1 Dynamic model block 13, electromagnetic drive module 14 and gear power transmission case 15；The stm32 main control module 11 is used in combination for handling data In the operation for controlling each module；The power management module 12 is each module for power supply；The motor drive module 13 and the tooth It takes turns power transmission box 15 to be connected, the motor drive module 13 is defeated by power by the gear power transmission case 15, drives and carries out Band 22 operates；The electromagnetic drive module 14 is for controlling electromagnet 23.

The foregoing is merely preferred embodiments of the invention, are not intended as limitation of the invention further, all to utilize this Various equivalence changes made by description of the invention and accompanying drawing content are within the scope of the present invention.