阅读说明：本技术 一种适用于复杂曲面的船舶清洗磁力爬壁机器人 (Ship cleaning magnetic wall-climbing robot suitable for complex curved surface ) 是由 阮佳琪 阮鑫 乔金锋 耿玲 郭冬冬 李永军 孙浩 姚瑞 林世峰 邵琳 田利红 于 2021-10-20 设计创作，主要内容包括：一种适用于复杂曲面的船舶清洗磁力爬壁机器人,在中央连接轴中部设有两个内法兰,两块安装板分别与各自的一个内法兰贴合,再通过连接螺栓固定；在中央连接轴的两端分别设有第一端法兰,在侧连接轴上设有第二端法兰,两个端法兰贴合连接并通过连接螺栓固定,并且两个端法兰之间还设有相互配合的矩形体凸块和矩形体凹槽；从动轮模块上安装有两个全向轮。本发明通过增加支撑部件,使得机器人结构形成抗变形能力较强的框架结构,克服了现有技术的多种缺陷,提升了船舶清洗磁力爬壁机器人对复杂曲面的适应性。(A magnetic wall-climbing robot for cleaning ships with complex curved surfaces is characterized in that two inner flanges are arranged in the middle of a central connecting shaft, and two mounting plates are respectively attached to one inner flange and fixed through a connecting bolt; the two ends of the central connecting shaft are respectively provided with a first end flange, the side connecting shaft is provided with a second end flange, the two end flanges are jointed and connected and fixed through a connecting bolt, and a rectangular body convex block and a rectangular body groove which are mutually matched are also arranged between the two end flanges; two omnidirectional wheels are arranged on the driven wheel module. According to the invention, the support component is added, so that the robot structure forms a frame structure with stronger deformation resistance, various defects in the prior art are overcome, and the adaptability of the magnetic wall-climbing robot for cleaning ships to complex curved surfaces is improved.)

1. The utility model provides a boats and ships wash magnetic force wall climbing robot suitable for complicated curved surface, includes a body frame (1), installs automatically controlled box (2) on body frame (1), suction formula washs dish (3), follows driving wheel module (4) and two action wheel modules (5), and suction formula washs dish (3) and is located the bottom of body frame (1), and two action wheel modules (5) are located the both sides that suction formula washs dish (3) respectively, its characterized in that: the vehicle body frame (1) comprises a central connecting shaft (6) and two mounting plates (7), the electric control box (2), the driven wheel module (4) and the suction type cleaning disc (3) are simultaneously connected with the two mounting plates (7), the central connecting shaft (6) is arranged on the two mounting plates (7) in a penetrating mode, first end flanges (9) are arranged at two ends of the central connecting shaft (6) respectively, two inner flanges (8) are arranged in the middle of the central connecting shaft (6), the two mounting plates (7) are connected with one inner flange (8) respectively in a mutually attached mode, a plurality of through holes which are aligned with each other are formed in the inner flanges (8) and the mounting plates (7), and connecting bolts are arranged in the through holes in a penetrating mode;

the driving wheel module (5) comprises a shell (14), a driving wheel (15) is installed on the shell (14), the driving wheel is used for driving a power transmission assembly of the driving wheel (15) to rotate, and a driving wheel magnet (16) used for generating magnetic adsorption force between working faces where the driving wheel (15) runs is arranged, a side connecting shaft (13) is arranged on the shell (14), a second end flange (10) is arranged at one end, facing the vehicle body frame (1), of the side connecting shaft (13), a rectangular body convex block (11) is arranged on the end face of one of a first end flange (9) and a second end flange (10), a rectangular body groove (12) matched with the rectangular body convex block (11) is formed in the end face of the other one of the first end flange (9) and the second end flange (10), the end faces of the first end flange (9) and the second end flange (10) are mutually attached and connected, and the rectangular body convex block (11) is inserted into the rectangular body groove (12), a plurality of through holes which are aligned with each other are arranged on the first end flange (9) and the second end flange (10), and connecting bolts are arranged in the through holes in a penetrating way;

the driven wheel module (4) comprises a top plate (17), the top side of the top plate (17) is connected with the two mounting plates (7) at the same time, the bottom side of the top plate (17) is connected with two omnidirectional wheels (18), and a driven wheel magnet (19) used for generating magnetic adsorption force with a working surface on which the omnidirectional wheels (18) run is arranged between the two omnidirectional wheels (18).

2. The magnetic wall-climbing robot for cleaning the ship with the complex curved surface according to claim 1, wherein: the mounting plates (7) are triangular flat plates, and the two mounting plates (7) are parallel to each other.

3. The magnetic wall-climbing robot for cleaning the ship with the complex curved surface according to claim 1, wherein: a plurality of through holes arranged on the first end flange (9) and a plurality of through holes arranged on the inner flange (8) are respectively and uniformly distributed at intervals along the circumferential direction of the central connecting shaft (6).

4. The magnetic wall-climbing robot for cleaning the ship with the complex curved surface according to claim 1, wherein: the surfaces of the opposite sides of the two mounting plates (7) are respectively attached to the surfaces of the opposite sides of the two inner flanges (8).

5. The magnetic wall-climbing robot for cleaning the ship with the complex curved surface according to claim 1, wherein: the axes of the central connecting shaft (6) and the two side connecting shafts (13) are overlapped, and the central line of the rectangular convex block (11) along the length direction is overlapped with the axis of the central connecting shaft (6).

Technical Field

The invention relates to the field of ship cleaning magnetic wall-climbing robots, in particular to a ship cleaning magnetic wall-climbing robot suitable for complex curved surfaces.

Background

In the ship cleaning operation, since it is difficult for personnel and conventional equipment to reach the side surface of the ship or the like, a magnetic wall climbing device, that is, a magnetic wall climbing robot capable of climbing and traveling along the side surface of the ship, is often used. The current sucking disc formula boats and ships wash magnetic force wall climbing robot includes a body frame, body frame is last to install automatically controlled box, the suction type washs the dish, from driving wheel module and two action wheel modules, the suction type washs the bottom that the dish is located body frame, two action wheel modules are located the both sides that the dish was washd to the suction type respectively, action wheel module and all be equipped with magnet from driving wheel module, the magnetism that produces through magnet adsorbs the power makes the robot can adsorb and move in the side of boats and ships, the suction type washs the dish and carries out vacuum suction washing to the position that the robot moved. However, the existing magnetic wall-climbing robot for ship cleaning has various defects, so that the magnetic wall-climbing robot has insufficient adaptability to the complex curved surface of the side wall of the ship.

First, current body frame's structure is worn to establish on two mounting panels for a central connecting axle, automatically controlled box, all be connected with two mounting panels simultaneously from driving wheel module and suction formula washing dish, two action wheel modules are connected with the both ends of central connecting axle respectively, and ideal state after the integrated installation is the action wheel of two action wheel modules and the bottom surface that suction formula washed the dish is located the coplanar, consequently need the relative position of control central connecting axle and two mounting panels, but fix central connecting axle and mounting panel through pipeline armful card among the prior art, pipeline armful card is dismantled the difficulty of restoreing back to the throne after maintaining, and positioning effect is relatively poor, there is position error in the bottom surface that makes action wheel and suction formula washing dish, especially can influence the stability and the accuracy of robot motion when the robot is located complicated curved surface.

Secondly, the existing driving wheel module is butted with a central connecting shaft through a side connecting shaft, the butted part of the two connecting shafts is positioned through a pin, a gap is easily formed between the pin and the two connecting shafts, so that the two driving wheel modules shake relative to a vehicle body frame, particularly on a complex curved surface of a side wall of a ship, the motion posture of the robot can continuously change due to the change of the curved surface, the shaking of the driving wheel modules relative to the vehicle body frame is further amplified, the robot vibrates and shakes on the complex curved surface of the side wall of the ship, and is difficult to stably move, therefore, a supporting component needs to be added, and the robot structure forms a frame structure with stronger deformation resistance.

Third, install two universal wheels on the current follow driving wheel module, the universal wheel can produce the transition of fulcrum when changing the state of advancing/backspacing, the perk takes place for the action wheel module that makes suction formula wash dish both sides easily, make robot magnetic adsorption power reduce suddenly, especially the motion gesture of robot on boats and ships lateral wall complex curved surface must be the sustained variation, take place action wheel module perk when the universal wheel changes the fulcrum very easily, the unstable condition of magnetic adsorption power, unstable magnetic adsorption power can lead to suction formula wash dish be difficult to guarantee good encapsulated situation with complex curved surface, influence the suction effect, still can make the robot drop from boats and ships lateral wall complex curved surface when serious.

Disclosure of Invention

In order to solve the problem that the existing magnetic wall-climbing robot for ship cleaning is difficult to adapt to complex curved surfaces, the invention provides a magnetic wall-climbing robot for ship cleaning, which is suitable for complex curved surfaces.

The technical scheme adopted by the invention for solving the technical problems is as follows: a magnetic wall-climbing robot for cleaning ships with complex curved surfaces comprises a vehicle body frame, wherein an electric control box, a suction type cleaning disc, a driven wheel module and two driving wheel modules are mounted on the vehicle body frame, the suction type cleaning disc is positioned at the bottom of the vehicle body frame, the two driving wheel modules are respectively positioned at two sides of the suction type cleaning disc, the vehicle body frame comprises a central connecting shaft and two mounting plates, the electric control box, the driven wheel module and the suction type cleaning disc are simultaneously connected with the two mounting plates, the central connecting shaft penetrates through the two mounting plates, first end flanges are respectively arranged at two ends of the central connecting shaft, two inner flanges are arranged in the middle of the central connecting shaft, the two mounting plates are respectively attached and connected with one inner flange, a plurality of through holes which are aligned with each other are formed in the inner flanges and the mounting plates, and connecting bolts penetrate through the through holes;

the driving wheel module comprises a shell, a driving wheel is mounted on the shell, a power transmission assembly used for driving the driving wheel to rotate, and a driving wheel magnet used for generating magnetic adsorption force with a working surface where the driving wheel runs, a side connecting shaft is arranged on the shell, a second end flange is arranged at one end, facing a vehicle body frame, of the side connecting shaft, a rectangular body convex block is arranged on the end face of one of the first end flange and the second end flange, a rectangular body groove matched with the rectangular body convex block is formed in the end face of the other end flange, the end faces of the first end flange and the second end flange are mutually attached and connected, the rectangular body convex block is inserted into the rectangular body groove, a plurality of through holes which are mutually aligned are formed in the first end flange and the second end flange, and connecting bolts penetrate through the through holes;

the driven wheel module comprises a top plate, the top side of the top plate is connected with the two mounting plates at the same time, the bottom side of the top plate is connected with two omnidirectional wheels, and a driven wheel magnet used for generating magnetic adsorption force with a working surface where the omnidirectional wheels run is arranged between the two omnidirectional wheels.

Preferably, the mounting plates are triangular flat plates, and the two mounting plates are parallel to each other.

Preferably, the plurality of through holes formed in the first end flange and the plurality of through holes formed in the inner flange are uniformly distributed at intervals in the circumferential direction of the central connecting shaft.

Preferably, the surfaces of the opposite sides of the two mounting plates are respectively attached to the surfaces of the opposite sides of the two inner flanges.

Preferably, the axes of the central connecting shaft and the two side connecting shafts are overlapped, and the central line of the rectangular body lug along the length direction is overlapped with the axis of the central connecting shaft.

According to the technical scheme, the invention has the beneficial effects that:

1. the invention is provided with two inner flanges in the middle of the central connecting shaft, the two mounting plates are respectively jointed with one inner flange and fixed by the connecting bolt, the connecting strength and the relative position relation between the mounting plates and the central connecting shaft can be effectively ensured, compared with the prior art which adopts the pipeline clamp, the invention not only improves the positioning effect, and the mounting plate and the inner flange can be repeatedly disassembled and assembled and accurately reset, when the robot is positioned on a complex curved surface, the driving wheels of the two driving wheel modules and the bottom surfaces of the suction type cleaning discs can be always positioned on the same plane, the position error between the driving wheels and the bottom surfaces of the suction type cleaning discs is eliminated, by adding the supporting component, a frame structure with stronger deformation resistance is formed at the position of the central connecting shaft of the robot, and the stability and accuracy of the robot in motion on the complex curved surface of the side wall of the ship are ensured.

2. The invention is provided with a first end flange at two ends of a central connecting shaft respectively, a second end flange on a side connecting shaft, two end flanges are jointed and connected and fixed by connecting bolts, and a rectangular body convex block and a rectangular body groove which are mutually matched are also arranged between the two end flanges, so that the central connecting shaft and the side connecting shafts can be accurately and stably connected, compared with the prior art that the two connecting shafts are positioned by one pin, the gap between the two connecting shafts can be effectively eliminated, by adding the supporting parts, the connecting part of the driving wheel module of the robot forms a frame structure with stronger deformation resistance, when the robot is located on the complex curved surface, the driving wheel module can be prevented from shaking relative to the vehicle body frame, the robot can be guaranteed to move stably on the complex curved surface of the side wall of the ship, and vibration and shaking caused by the structure of the robot can be avoided.

3. The driven wheel module is provided with two omnidirectional wheels to replace the universal wheels adopted in the prior art, the omnidirectional wheels can not change pivots when changing the forward/backward state, the movement is more stable, the driving wheel module can be prevented from tilting when the robot is positioned on a complex curved surface, the robot is kept to have stable magnetic adsorption force, a good sealing state of a suction type cleaning disc and the complex curved surface can be ensured when the robot continuously changes the movement posture, the suction effect is ensured, and the robot is prevented from falling off from the complex curved surface on the side wall of the ship.

Drawings

FIG. 1 is a schematic view of a magnetic wall-climbing robot for cleaning a ship;

FIG. 2 is an exploded view of FIG. 1;

fig. 3 is a partial schematic view of fig. 2.

The labels in the figure are: 1. the vehicle body frame, 2, automatically controlled box, 3, suction formula cleaning disc, 4, follow driving wheel module, 5, action wheel module, 6, central connecting axle, 7, mounting panel, 8, inner flange, 9, first end flange, 10, second end flange, 11, cuboid lug, 12, cuboid recess, 13, side connecting axle, 14, casing, 15, action wheel, 16, action wheel magnet, 17, roof, 18, omniwheel, 19, follow driving wheel magnet, 20, high pressure water jet gun, 21, drinking-water pipe, 22, fender bracket.

Detailed Description

Referring to the drawings, the specific embodiments are as follows:

the utility model provides a boats and ships wash magnetic force wall climbing robot suitable for complicated curved surface, including a body frame 1, body frame 1 is last to install automatically controlled box 2, suction formula washs dish 3, from driving wheel module 4 and two action wheel modules 5, suction formula washs dish 3 and is located body frame 1's bottom, install high pressure water spray gun 20 in the suction formula washs dish 3, high pressure water spray gun 20's water inlet stretches out from the top that suction formula washs dish 3, two delivery ports have still been seted up at the top that the dish was washd to the suction formula, two delivery ports all are connected with drinking-water pipe 21, during operation high pressure water spray gun 20 lasts to the boats and ships lateral wall and sprays water and washs, drinking-water pipe 21 lasts simultaneously and draws water, make the inside vacuum negative pressure that forms of suction formula washing dish 321, the filth will be continuously taken away by the drinking-water pipe along with rivers. The two driving wheel modules 5 are respectively positioned at two sides of the suction type cleaning disc 3, a protective frame 22 is usually connected between the two driving wheel modules 5, and the middle part of the protective frame 22 is also connected with the top end of the driven wheel module 4 to form a frame structure.

Automobile body frame 1 includes a central connecting axle 6 and two mounting panels 7, mounting panel 7 is the triangle-shaped flat board, two mounting panels 7 are parallel to each other, automatically controlled box 2, wash dish 3 all to be connected simultaneously with two mounting panels 7 from driving wheel module 4 and suction formula, central connecting axle 6 wears to establish on two mounting panels 7, the both ends of central connecting axle 6 are equipped with first end flange 9 respectively, 6 middle parts of central connecting axle are equipped with two inner flanges 8, two mounting panels 7 are connected with 8 mutual laminatings of respective inner flange respectively, set up a plurality of through-holes that align each other on inner flange 8 and the mounting panel 7, wear to be equipped with connecting bolt in the through-hole. Through increasing supporting component for the central connecting axle 6 position of robot forms the stronger frame construction of anti deformability, can effectively guarantee joint strength and the relative position relation between mounting panel 7 and central connecting axle 6, and mounting panel 7 and inner flange 8 can be dismantled and assembled repeatedly and the accuracy resets moreover.

The driving wheel module 5 comprises a shell 14, a driving wheel 15 is arranged on the shell 14, a power transmission assembly for driving the driving wheel 15 to rotate and a driving wheel magnet 16 for generating magnetic adsorption force between the driving wheel and a working surface on which the driving wheel 15 runs, a side connecting shaft 13 is arranged on the shell 14, a second end flange 10 is arranged at one end, facing the vehicle body frame 1, of the side connecting shaft 13, a rectangular body convex block 11 is arranged on the end surface of one of a first end flange 9 and the second end flange 10, a rectangular body groove 12 matched with the rectangular body convex block 11 is arranged on the end surface of the other end flange, the end surfaces of the first end flange 9 and the second end flange 10 are mutually attached and connected, the rectangular body convex block 11 is inserted into the rectangular body groove 12, the axes of the central connecting shaft 6 and the two side connecting shafts 13 are overlapped, and the central line of the rectangular body convex block 11 along the length direction is overlapped with the axis of the central connecting shaft 6, a plurality of through holes aligned with each other are arranged on the first end flange 9 and the second end flange 10, and connecting bolts are arranged in the through holes in a penetrating manner. Through increasing the supporting component for the action wheel module 5 of robot connects the position and forms the stronger frame construction of anti deformability, makes central authorities 'connecting axle 6 and side connecting axle 13 can be accurate, the stable connection, effectively eliminates the clearance between central authorities' connecting axle 6 and the side connecting axle 13, avoids action wheel module 5 to produce for vehicle body frame 1 and rocks, guarantees that the robot can the stationary motion on the curved surface lateral wall of boats and ships.

The driven wheel module 4 comprises a top plate 17, the top side of the top plate 17 is simultaneously connected with the two mounting plates 7, two omnidirectional wheels 18 are connected with the bottom side of the top plate 17, and a driven wheel magnet 19 for generating magnetic attraction force with a working surface on which the omnidirectional wheels 18 run is arranged between the two omnidirectional wheels 18. The omni-directional wheel 18 can not change the fulcrum when changing the state of advancing/retreating, moves more steadily, can avoid the suction formula to wash the 5 perk of action wheel module of dish 3 both sides, keeps the magnetic adsorption power of robot, guarantees that the robot can all realize the good encapsulated situation of suction formula washing dish 5 and working face in arbitrary gesture, guarantees the suction effect to can prevent that the robot from dropping from the boats and ships lateral wall.