Ship and naval vessel wall surface wall-climbing cleaning robot

Abstract

The invention discloses a ship and naval vessel wall surface wall-climbing cleaning robot which comprises a frame, wherein a walking self-adaptive mechanism, a cleaning mechanism and a thrust adsorption mechanism are mounted on the frame; the walking self-adaptive mechanism comprises a caterpillar track; the caterpillar track is arranged on a driving wheel and a tensioning wheel in a sleeving manner; the tensioning wheel is connected with a telescopic adjusting mechanism; a self-adaptive mechanism is mounted between the driving wheel and the tensioning wheel and comprises a spring; one end of the spring is connected with the frame, and the other end of the spring is connected with an upper supporting plate; the upper supporting plate is connected with the frame in a coupling manner through a rotary shaft and is connected with a lower supporting plate through a steering engine; and the lower supporting plate is connected with a load-bearing wheel. The ship and naval vessel wall surface wall-climbing cleaning robot enables the load-bearing wheel and a caterpillar track plate to cling to the wall surface of a ship so as to ensure the adsorption effect of a permanent magnet, can be adapted to various wall surfaces of the ship, overcomes the influences about adsorption obstacle crossing limitation of a single permanent magnet and material limitation, is large in cleaning area, uniform in stress, high in load-bearing capacity and higher in strength, can better reach the balance condition, and improves the cleaning efficiency.

Description

technical field [0001] The invention belongs to the field of machinery, and in particular relates to a wall-climbing cleaning robot for ships and warships. Background technique [0002] 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. [0003] NASA and the Jet Propulsion Laboratory of the California Institute of Technology (NASA-JPL) have developed the M series o...

AI Technical Summary

Problems solved by technology

A new type of 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

[0009]Yi Zhengyao from Dalian Maritime University and others have developed two generations of wall-climbing robots equipped with ship derusting cleaners that lack an adaptive structure and adopt a single cleaning brush structure. Causes unstable work, prone to problems such as vibration and noise

[0010] 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, there is a lack of design for the adaptive structure. The existing track cannot adapt to the body surface of a ship with a large curvature, and its clean structure cannot adapt to the structure of the curved surface of the hull.

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