阅读说明：本技术 一种爬壁清洗机器人系统 (Wall-climbing cleaning robot system ) 是由 齐彬 张军政 周建华 苏宇 于 2021-06-10 设计创作，主要内容包括：本发明提供了一种爬壁清洗机器人系统,属于机器人技术领域,包括磁吸附模块、清洗模块、伺服驱动模块和底架安装模块,清洗模块螺接固定在底架安装模块中部,底架安装模块两端螺接固定有两个伺服驱动模块,两个伺服驱动模块上设置有两个磁吸附模块。其使用时,首先利用磁吸附模块将机器人固定在船舷外壁上,并将尼龙绳绑定在机器人两端,之后,伺服驱动模块利用四台伺服电机驱动麦克纳姆轮,利用轮子之间的差速使得机器人随意移动,最后,打开清洗模块清除船体的污渍,从而完成清洗任务。本发明设计合理,运行稳定,效果显著,降低人力成本,解决了现有技术中由于前现有的清洗机器人普遍存在清洗效果差而导致的难以满足使用要求的问题。(The invention provides a wall-climbing cleaning robot system, which belongs to the technical field of robots and comprises a magnetic adsorption module, a cleaning module, servo drive modules and an underframe mounting module, wherein the cleaning module is fixedly connected to the middle part of the underframe mounting module in a threaded manner, two servo drive modules are fixedly connected to two ends of the underframe mounting module in a threaded manner, and the two magnetic adsorption modules are arranged on the two servo drive modules. When the robot is used, the robot is fixed on the outer wall of a ship board by the aid of the magnetic adsorption module, nylon ropes are bound to two ends of the robot, then the servo driving module drives the Mecanum wheels by the aid of four servo motors, the robot is enabled to move at will by the aid of differential between the wheels, and finally the cleaning module is opened to remove stains on the ship body, so that a cleaning task is completed. The invention has reasonable design, stable operation and obvious effect, reduces the labor cost and solves the problem that the prior cleaning robot in the prior art is difficult to meet the use requirement due to the common poor cleaning effect.)

1. The utility model provides a climb wall cleaning robot system, its characterized in that, includes magnetism adsorption module (1), cleaning module (2), servo drive module (3) and chassis installation module (4), cleaning module (2) spiro union is fixed at chassis installation module (4) middle part, chassis installation module (4) both ends spiro union is fixed with two servo drive modules (3), two be provided with two on the servo drive module (3) magnetism adsorption module (1).

2. The wall-climbing cleaning robot system according to claim 1, wherein the magnetic adsorption module (1) comprises a permanent magnet (11), a guide plate (12), a mounting plate (13), an adjusting screw (14) and a limit sleeve (15), the chassis mounting module (4) is fixed to one end of the mounting plate (13) in a threaded manner, the other end of the mounting plate (13) is fixed to the guide plate (12) in a threaded manner, the permanent magnet (11) is slidably arranged in the guide plate (12), the permanent magnet (11) is connected to one end of the adjusting screw (14), the adjusting screw (14) is inserted in the middle of the mounting plate (13) in a threaded manner, the limit sleeve (15) is installed at the other end of the adjusting screw (14), and a positioning pin is inserted in the limit sleeve (15).

3. The wall-climbing robot cleaning system according to claim 2, wherein the underframe mounting module (4) comprises an underframe beam (41), locking blocks (42), a turnover cover (43), a pressing plate (44), rotary joints (45) and hinge seats (46), the mounting plate (13) is fixed on the underframe beam (41), one side of the underframe beam (41) is provided with a pair of hinge seats (46), the pair of hinge seats (46) is hinged with the two rotary joints (45), the two rotary joints (45) are fixed on the pressing plate (43) in a threaded manner, the pressing plate (43) is fixed with the two locking blocks (42), the two locking blocks (42) are abutted against the two pressing plates (44), and the two pressing plates (44) are fixed on the underframe beam (41) in a threaded manner.

4. The wall-climbing robot cleaning system according to claim 3, wherein the servo driving module (3) comprises driving motors (31), speed reducers (32), mounting frames (33), gearboxes (34) and McNam wheels (35), two ends of the chassis beam (41) are fixed to the two mounting frames (33) in a threaded manner, two driving motors (31) are symmetrically arranged above any one of the mounting frames (33), the two driving motors (31) are in transmission connection with the two speed reducers (32), the two speed reducers (32) are in transmission connection with the two gearboxes (34), and the two gearboxes (34) are in transmission connection with the two McNam wheels (35).

5. The wall-climbing robot cleaning system according to claim 4, wherein the mounting frame (33) comprises a handle (331), a frame body (332) and a hanging ring (333), the base frame beam (41) is fixed with the frame body (332) in a threaded manner, the hanging ring (333) is arranged in the middle of the frame body (332), and two handles (331) are symmetrically arranged on two sides of the hanging ring (333) and located at the end parts of the frame body (332).

6. A wall-climbing robot cleaning system according to claim 3, characterized in that the cleaning module (2) comprises a washing device (21) and a recovery device (22), the recovery device (22) is fixedly mounted on the flip (43), and the washing device (21) is mounted on the recovery device (22).

7. The wall-climbing cleaning robot system as claimed in claim 6, wherein the recovery device (22) comprises a vacuum recovery pipe (221), a negative pressure recovery barrel (222), an elastic support (223) and a brush (224), the negative pressure recovery barrel (222) is vertically and fixedly arranged in the middle of the flip cover (43), the negative pressure recovery barrel (222) is communicated with the vacuum recovery pipe (221), the elastic support (223) is slidably sleeved on the negative pressure recovery barrel (222), and the brush (224) is arranged at the bottom of the elastic support (223).

8. The wall-climbing cleaning robot system as claimed in claim 7, wherein the washing device (21) comprises a servo motor (211), a water injection pipe (212), a hollow rotating shaft (213) and a cross cleaning disc (214), the hollow rotating shaft (213) is arranged at the axis of the negative pressure recovery barrel (222), one end of the hollow rotating shaft (213) is communicated with the water injection pipe (212), the other end of the hollow rotating shaft (213) is communicated with the cross cleaning disc (214), and the hollow rotating shaft (213) is in transmission connection with the servo motor (211).

Technical Field

The embodiment of the invention relates to the technical field of robots, in particular to a wall-climbing cleaning robot system.

Background

At present, the side part of a large ocean-going vessel is cleaned slowly in a one-person one-rope mode, and due to the fact that keel of the vessel body inclines inwards, the method is low in efficiency, high in cost and high in risk. In addition, as the hull part is soaked in seawater for a long time, a large amount of algae, oil stains or rust are often attached to the surface of the hull part, and the existing cleaning robot generally has the problems of poor cleaning effect, complex and heavy structure, low efficiency and difficulty in meeting the use requirements.

Disclosure of Invention

Therefore, the embodiment of the invention provides a wall-climbing cleaning robot system to solve the problem that the use requirement is difficult to meet due to the fact that the existing cleaning robot in the prior art generally has poor cleaning effect.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

the invention provides a wall-climbing cleaning robot system which comprises a magnetic adsorption module, a cleaning module, servo driving modules and an underframe mounting module, wherein the cleaning module is fixedly connected to the middle part of the underframe mounting module in a threaded manner, two servo driving modules are fixedly connected to two ends of the underframe mounting module in a threaded manner, and the two magnetic adsorption modules are arranged on the two servo driving modules.

Further, magnetism adsorbs the module and includes permanent magnet, deflector, mounting panel, adjusting screw and stop collar, chassis installation module is fixed with the one end spiro union of mounting panel, the other end and the deflector spiro union of mounting panel are fixed, it is provided with the permanent magnet to slide in the deflector, the permanent magnet links to each other with adjusting screw's one end, the adjusting screw spiro union is inserted and is established at the mounting panel middle part, the stop collar is installed to adjusting screw's the other end, the stop collar is inserted and is equipped with the locating pin.

Further, chassis installation module includes underframe roof beam, locking block, flip, clamp plate, rotary joint and articulated seat, the mounting panel is fixed on the underframe roof beam, one side of underframe roof beam is provided with a pair of articulated seat, and is a pair of articulated seat is articulated with two rotary joint, and two rotary joint spiro couplings are fixed on the clamp plate, be fixed with two locking blocks on the clamp plate, two the locking block offsets with two clamp plates, and two clamp plate spiro couplings are fixed on the underframe roof beam.

Further, servo drive module includes driving motor, speed reducer, mounting bracket, gearbox, mikana mu wheel, the both ends and two mounting bracket spiro unions of underframe roof beam are fixed, arbitrary one the top symmetry of mounting bracket is provided with two driving motor, two driving motor is connected with two speed reducer transmissions, two the speed reducer is connected with two gearbox transmissions, two the gearbox is with two mikana mu wheel transmission is connected.

Further, the mounting bracket includes handle, support body and rings, the underframe roof beam is fixed with the support body spiro union, the middle part of support body is provided with rings, the rings both sides are located support body tip symmetry and are provided with two handles.

Furthermore, the cleaning module comprises a flushing device and a recovery device, the recovery device is fixedly mounted on the flip cover, and the flushing device is mounted on the recovery device.

Further, recovery unit includes vacuum recovery pipe, negative pressure recycling bin, elastic support and brush the vertical fixed negative pressure recycling bin that is provided with in flip middle part, negative pressure recycling bin and vacuum recovery pipe intercommunication, elastic support is equipped with to the slip cap on the negative pressure recycling bin, the elastic support bottom is provided with the brush.

Further, washing unit includes that servo motor, water injection pipe, hollow pivot and cross wash the dish, negative pressure recycling bin axle center department is provided with hollow pivot, hollow pivot one end and water injection pipe intercommunication, the dish intercommunication is washd with the cross to the hollow pivot other end, hollow pivot is connected with the servo motor transmission.

The embodiment of the invention has the following advantages:

compared with the prior art, the technical scheme effectively combines the recovery device with the flushing device, not only improves the cleaning efficiency, but also utilizes the negative pressure generated by the negative pressure recovery barrel to adsorb the hull by combining the permanent magnet, so that the running stability of the robot on the vertical wall is obviously improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

Fig. 1 is a perspective view of a wall-climbing robot system according to the present invention;

FIG. 2 is a perspective view of a cleaning module of a wall-climbing cleaning robot system according to the present invention;

FIG. 3 is a front view of a wall-climbing robot system provided by the present invention;

FIG. 4 is a perspective view of an undercarriage mounting module of a wall-climbing robot system according to the present invention;

FIG. 5 is a perspective view of a magnetic adsorption module of a wall-climbing robot system according to the present invention;

FIG. 6 is a cross-sectional view of a cleaning module of a wall-climbing cleaning robot system according to the present invention;

FIG. 7 is a schematic diagram of a wall-climbing robot system according to the present invention;

in the figure: 1, a magnetic adsorption module; 11 a permanent magnet; 12 a guide plate; 13 mounting the plate; 14 adjusting a screw rod; 15, a limiting sleeve; 2, cleaning the module; 21 a flushing device; 211 a servo motor; 212 a water injection pipe; 213 hollow rotating shaft; 214 cross-shaped cleaning discs; 22 a recovery device; 221 a vacuum recovery tube; 222, a negative pressure recovery barrel; 223 an elastic support; 224 brush; 3, servo driving module; 31 driving a motor; a 32 speed reducer; 33, mounting a frame; 331 a handle; 332 of a frame body; 333 hoisting rings; 34 a gearbox; 35 macnahme wheels; 4, installing a module on the chassis; 41 underframe beams; 42 a locking block; 43 a flip cover; a 44 platen; 45 a swivel joint; 46 hinged to the base.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-7, an embodiment of the present invention provides a wall-climbing cleaning robot system, which includes a magnetic adsorption module 1, a cleaning module 2, a servo driving module 3, and an underframe mounting module 4, where the cleaning module 2 is screwed and fixed in the middle of the underframe mounting module 4, the cleaning module 2 can generate high-pressure water flow to wash the surface of a ship body, and generate negative pressure to circularly absorb cleaning liquid, so as to avoid environmental pollution, and the negative pressure is also beneficial to stabilizing equipment, so that the underframe mounting module 4 is adsorbed on the surface of the ship body, thereby improving the stability of the robot operation. Two servo driving modules 3 are fixed at two ends of the underframe mounting module 4 in a screwed connection mode and used for controlling the advancing and moving directions of the chassis. Two magnetic adsorption modules 1 are arranged on the two servo driving modules 3. The magnetic adsorption module 1 prevents adsorption with the gap permanent magnet, so that the wall climbing cleaning robot is enabled, and the flexibility of the robot moving on the wall surface is enhanced.

According to a specific embodiment of the present invention, the magnetic adsorption module 1 includes a permanent magnet 11, a guide plate 12, a mounting plate 13, an adjusting screw 14 and a limit sleeve 15, the chassis mounting module 4 is fixed to one end of the mounting plate 13 by screwing, the other end of the mounting plate 13 is fixed to the guide plate 12 by screwing, the permanent magnet 11 is slidably disposed in the guide plate 12, so that the permanent magnet 11 can move up and down by adjustment, and besides, the permanent magnet 11 is preferably a neodymium magnet, so as to obtain a sufficient magnetic field intensity. The permanent magnet 11 is connected with one end of an adjusting screw 14, the adjusting screw 14 is in threaded connection and inserted in the middle of the mounting plate 13, a limiting sleeve 15 is installed at the other end of the adjusting screw 14, and a positioning pin is inserted in the limiting sleeve 15. The adjusting screw 14 and the mounting plate 13 form a screw pair, so that the position of the permanent magnet 11 can be adjusted by rotating the adjusting screw 14, the adsorption force between the underframe beam 41 and the outer surface of the ship is changed, and the problem that the wall climbing robot falls off is solved under the adjustment of maximally considering the moving flexibility of the robot.

According to a specific embodiment of the present invention, the underframe mounting module 4 includes an underframe beam 41, locking blocks 42, a flip cover 43, a pressing plate 44, a rotary joint 45 and a hinge seat 46, the mounting plate 13 is fixed on the underframe beam 41, one side of the underframe beam 41 is provided with a pair of hinge seats 46, the pair of hinge seats 46 is hinged to the two rotary joints 45, the two rotary joints 45 are fixed on the pressing plate 43 in a threaded manner, the pressing plate 43 is fixed with the two locking blocks 42, the two locking blocks 42 are abutted to the two pressing plates 44, and the two pressing plates 44 are fixed on the underframe beam 41 in a threaded manner. When the robot is used, the turning cover 43 can rotate on one side of the underframe beam 41 through the rotary joint 45 and the hinged seat 46, so that the cleaning module 2 is convenient to disassemble and maintain, and meanwhile, the pressing plate 44 can be fixed on the underframe beam 41 in a threaded manner, so that the purpose of fixing the turning cover 4 can be realized by abutting against the locking block 42 through the pressing plate 44, and the overall structural stability of the robot is improved.

According to a specific embodiment provided by the present invention, the servo driving module 3 includes a driving motor 31, a speed reducer 32, mounting frames 33, a gear box 34, and a minam wheel 35, two ends of the chassis beam 41 are screwed and fixed with the two mounting frames 33, two driving motors 31 are symmetrically arranged above any one of the mounting frames 33, and the driving motors 31 and the permanent magnets are arranged in a suspended manner, so that the problem that the motors are affected by magnetic force and fail can be effectively avoided. The two driving motors 31 are in transmission connection with the two speed reducers 32, the two speed reducers 32 are in transmission connection with the two gear boxes 34, and the two gear boxes 34 are in transmission connection with the two minam wheels 35, so that the minam wheels 35 are driven to rotate freely. Four sets of driving motors 31 are arranged in the component, each driving motor 31 is independently controlled so as to output different rotating speeds and torques, and acts on four different Macnam wheels 35 through a speed reducer 32 and a gearbox 34, a four-wheel drive mobile system is formed, different Macnam wheels 35 are controlled by remote control, the remote controller is provided with four gears, and the gears can be adjusted freely according to different working states. The direction can be moved in any direction of ten directions such as forward, backward, leftward, rightward, left-front, left-back, right-front, right-back, right-rotation, left-rotation and the like. Therefore, the chassis of the robot can rotate in place and even move transversely by utilizing the different rotating speeds of the four McNam wheels 35, so that the moving flexibility of the robot is obviously improved, the efficiency is improved, the operation time is shortened, and the operation cost is reduced.

According to an embodiment of the present invention, the mounting frame 33 includes a handle 331, a frame body 332 and a hanging ring 333, the base frame beam 41 is fixed to the frame body 332 by screwing, the hanging ring 333 is disposed in the middle of the frame body 332, and two handles 331 are symmetrically disposed on two sides of the hanging ring 333 at the end of the frame body 332. The handle 331 is used for facilitating the whole transfer of the robot to be attached to the surface of the ship body, the hanging rings 333 are arranged at the front end and the rear end of the chassis of the robot, and nylon ropes are bound on the hanging rings 333, so that the problem that the robot falls off accidentally on the vertical wall can be avoided, and economic loss caused by the problem can be avoided.

According to a specific embodiment of the present invention, the cleaning module 2 includes a flushing device 21 and a recovery device 22, the recovery device 22 is fixedly installed on the flip cover 43, and the flushing device 21 is installed on the recovery device 22.

According to an embodiment of the present invention, the recycling device 22 includes a vacuum recycling pipe 221, a negative pressure recycling bin 222, an elastic support 223 and a brush 224, the negative pressure recycling bin 222 is vertically and fixedly disposed in the middle of the flip cover 43, the negative pressure recycling bin 222 is communicated with the vacuum recycling pipe 221, the elastic support 223 is slidably sleeved on the negative pressure recycling bin 222, and the brush 224 is disposed at the bottom of the elastic support 223. The external vacuum pump of vacuum recovery pipe 221 to produce the negative pressure and then produce suction in making negative pressure recovery bucket 222, simultaneously, the elastic support 223 and the brush 224 that the cover was established on the negative pressure recovery bucket 222 outer wall can the stubborn dirt of effectual processing, thereby be favorable to utilizing the high-pressure rivers in the negative pressure recovery bucket 222 on next step to wash, thereby improve the clean effect who washes. When the anti-falling device works, high-pressure water of the high-pressure pump is firstly connected to a water inlet of the wall-climbing robot through the rubber pipe, enters the negative pressure recovery barrel 222 and then is connected to the vacuum recovery pipe 221, the wall-climbing cleaning robot is moved to a position needing cleaning, and the anti-falling device is hung. The vacuum recovery device and the high-pressure pump system are started first, the negative pressure provided by the vacuum recovery device is confirmed to be normal, and after the water pressure of the high-pressure water supply pipeline of the high-pressure pump is normal, the high-pressure water supply valve can be opened to supply water to the cross cleaning disc 214 and then cleaning operation is carried out.

The remote controller is operated remotely to drive the wall climbing cleaning robot to move, 24 nozzles are arranged on the cross cleaning disc 214, the cross cleaning disc 214 rotates at a high speed under the condition of setting movement, and at the moment, high-pressure water can easily strip off objects which are not easy to remove such as paint, rust and the like on the surface of the object, so that the effect of cleaning the surface of the target object is achieved. 6 pressure springs are arranged between the brush 224 and the fixing plate, when the brush 224 works, the brush 224 only clings to the working surface, and the springs can play a role in compressing and damping, so that the inner space of the negative pressure recovery barrel 222 is vacuumized, and wastewater and waste residues are recovered better.

According to an embodiment of the present invention, the washing device 21 includes a servo motor 211, a water injection pipe 212, a hollow rotating shaft 213 and a cross washing disc 214, the hollow rotating shaft 213 is disposed at the axis of the negative pressure recycling bin 222, since the negative pressure recycling bin 222 is in a negative pressure state, one end of the hollow rotating shaft 213 is communicated with the water injection pipe 212, and the other end of the hollow rotating shaft 213 is communicated with the cross washing disc 214, the pressure of the water flow ejected from the cross washing disc 214 can be enhanced, thereby improving the washing effect. And hollow rotating shaft 213 is connected with servo motor 211 transmission, and hollow rotating shaft 213 drives cross washing dish 214 and rotates in the process of washing, not only can improve the area of washing, can also further improve the velocity of flow of rivers, further improves the cleaning performance from this.

The application process of the embodiment of the invention is as follows:

the invention discloses a wall climbing cleaning robot system, which is used specifically, firstly, a regulating screw 14 is twisted to regulate the position of a permanent magnet 11, so that a underframe beam 41 is adsorbed on the surface of a ship body, then four driving motors 31 drive four Mecanum wheels 35, the rotating speed of each Mecanum wheel 35 is changed by utilizing a gearbox 34, so that a flushing device 21 can be randomly changed in position, finally, the flushing device 21 is started, water is injected into a water injection pipe 212, and a vacuum recovery pipe 221 exhausts air outwards through a vacuum pump, so that the cleaning effect is improved.

The cleaning robot is reasonable in design, simple to operate and stable in operation, can obviously improve the cleaning effect, and solves the problem that the existing cleaning robot in the prior art is difficult to meet the use requirement due to the common poor cleaning effect.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.