CN111975789B

CN111975789B - Cabin cleaning robot based on electromagnetic principle

Info

Publication number: CN111975789B
Application number: CN202010736155.7A
Authority: CN
Inventors: 张洪双; 蒋梦龙; 唐嘉薇; 王义斌
Original assignee: Changzhou Campus of Hohai University
Current assignee: Changzhou Campus of Hohai University
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2023-05-19
Anticipated expiration: 2040-07-28
Also published as: CN111975789A

Abstract

The invention discloses a cabin cleaning robot based on an electromagnetic principle, which comprises a driving wheel, an electric brush sleeve ring, an electromagnet coil, a coaxial hinge, a connecting shaft, a bracket, a center platform, a water gun and universal supporting wheels. The squirt is installed in the bottom of center platform. The center platform is fixedly connected with the left and right electric brush lantern rings through screws and two brackets. The two electric brush lantern rings are respectively nested on the left connecting shaft and the right connecting shaft, and the two connecting shafts are connected through a coaxial hinge. The other ends of the two connecting shafts are fixedly connected with the driving wheel. The electromagnet coils are fixed on the inner ring of the driving wheel. Each electromagnet coil is in contact with and electrically conductive with a brush on the brush collar. The two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the center platform. The robot of the invention is attached to the metal wall surface of the ship cargo warehouse by generating attractive force through electrifying the electromagnet coils facing to the plane, and the driving wheel is pressed to rotate by generating attractive force through electrifying the electromagnet coils with inclination angles with the plane.

Description

Cabin cleaning robot based on electromagnetic principle

Technical Field

The invention relates to a cabin cleaning robot based on an electromagnetic principle, which can carry different instruments, equipment and the like to carry out special operation on a magnetically attractable metal plane.

Background

The hold of the ship needs to be carefully cleaned after the cargo is transported, preventing the next batch of cargo from being polluted or the hold from being corroded, resulting in economic loss and even safety accidents. The manual cleaning needs to consume a large amount of manpower, and cabin height is great moreover, and the workman needs to use the scaffold frame just can wash the upper end, and cleaning efficiency is low. During cleaning, the cabin is always full of dust and smoke, so that personal safety and physical health of workers are threatened.

There are several cabin cleaning robots or devices available. However, in order to ensure stable movement and carry more working equipment, the existing cabin cleaning device generally sacrifices adaptability of the device or adopts a more complex structure, so that the overall weight and the volume are larger.

For example, a cabin cleaning robot (CN 102085907A) adopts wheel type driving, which ensures high efficiency and stability of movement, but only can adapt to the horizontal cabin bottom environment, and the side surface of the cabin and the cabin cover cannot be cleaned.

For example, a bulk cargo cabin wall cleaning device (CN 208412065U) adopts a guide rail structure, so that the device can adapt to various cabin wall states such as horizontal and vertical, but the whole structure is heavy and bulky, and is difficult to transport in actual use and is complex to operate.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a cabin cleaning robot based on an electromagnetic principle, which can be stably attached to the wall surfaces of cabins in different states and shapes and can freely move to replace workers to perform heavy and dangerous cabin cleaning work.

In order to solve the technical problems, the technical scheme of the invention is as follows: the cabin cleaning robot based on the electromagnetic principle comprises a driving wheel, an electric brush sleeve ring, an electromagnet coil, a coaxial hinge, a connecting shaft, a bracket, a center platform, a water gun and universal supporting wheels. The water gun is arranged at the bottom of the center platform. The center platform is fixedly connected with the left and right electric brush lantern rings through screws and two brackets. The two electric brush lantern rings are respectively nested on the left connecting shaft and the right connecting shaft, and the two connecting shafts are connected through a coaxial hinge. The other ends of the two connecting shafts are fixedly connected with the driving wheel. The electromagnet coils are fixed on the inner ring of the driving wheel. Each electromagnet coil is in contact with and electrically conductive with a brush on the brush collar. The two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the center platform.

Further, the driving wheel comprises a driving wheel inner ring and a driving wheel outer ring, and the driving wheel inner ring and the driving wheel outer ring are matched through a sliding groove and can rotate relatively.

Further, the universal supporting wheel comprises a universal wheel and a spring, the universal wheel is arranged on the center platform through the spring, and when the universal wheel is extruded, the spring contracts, so that the robot is adapted to the wall surface of the cabin with radian.

Further, the collar part of the electric brush collar and the inner ring of the driving wheel are made of insulating materials, and the center platform, the support and the connecting shaft are made of conductive materials.

Further, a plurality of conductive sheets are arranged between the inner ring of the driving wheel and the connecting shaft, and are uniformly distributed in the inner ring of the driving wheel in a circumference manner.

Further, an electrode is arranged at the tail of the center platform, and one end of the electromagnet coil is powered by the center platform, the support, the connecting shaft and the conducting strip in sequence.

Furthermore, each electric brush lantern ring is provided with two electric brushes, namely a dependent electric brush and an advancing electric brush, which are respectively contacted with one end of an electromagnet of the electromagnet coil and conduct electricity, and the four electric brushes of the left electric brush lantern ring and the right electric brush lantern ring are respectively connected to the four I/O ports of the controller.

After the technical scheme is adopted, the invention has the following advantages and effects:

the robot in the invention adopts the electromagnet to keep the gesture, so that the robot has stronger adaptability, can adapt to most cabin environments, can move on the horizontal plane of the bottom of the cabin as the existing robot, can be attached to the side wall of the cabin and the cabin cover to move and perform cleaning work, and in addition, the spring structure of the universal supporting wheel enables the robot to adapt to the radian of the cabin wall surface so as to avoid the phenomena of wheel slipping and the like.

The operation of advancing, turning, attaching and detaching of the robot can be realized by controlling the on-off of four corresponding four I/O ports, and the robot is easy to control and has small operation difficulty.

Drawings

Fig. 1 is a schematic structural view of a cabin cleaning robot based on electromagnetic principle according to the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic illustration of electrode positions;

fig. 5 is an exploded view of the inner race of the drive wheel and its surrounding related parts.

Meaning of reference numerals: 1. the electric brush comprises an electric brush sleeve ring 2, an electromagnet coil 3, a coaxial hinge 4, a connecting shaft 5, a bracket 6, a central platform 7, a water gun 8, a driving wheel inner ring 9, a driving wheel outer ring 10, a universal wheel 11, a spring 12, a conducting strip 13, an electrode 14, an attaching electric brush 15 and a forward electric brush.

Detailed Description

In order that the invention may be more readily understood, a further detailed description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

As shown in fig. 1, the cabin cleaning robot based on the electromagnetic principle comprises a driving wheel, an electric brush lantern ring 1, an electromagnet coil 2, a coaxial hinge 3, a connecting shaft 4, a bracket 5, a center platform 6, a water gun 7 and universal supporting wheels. The water gun 7 is arranged at the bottom of the center platform 6. The center platform 6 is fixedly connected with the left and right electric brush lantern rings 1 through screws and the two brackets 5. The two brush collars 1 are respectively nested on the left connecting shaft 4 and the right connecting shaft 4, and the two connecting shafts 4 are connected through the coaxial hinge 3. The other ends of the two connecting shafts 4 are fixedly connected with the driving wheel. A plurality of electromagnet coils 2 are fixed on the inner ring of the driving wheel. Each electromagnet coil is in contact with and electrically conductive with a brush on the brush collar 1. The two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the center platform 6.

The driving wheel comprises a driving wheel inner ring 8 and a driving wheel outer ring 9, and the driving wheel inner ring and the driving wheel outer ring are matched through a sliding groove and can rotate relatively.

The universal supporting wheel comprises a universal wheel 10 and a spring 11, wherein the universal wheel 10 is arranged on the center platform 6 through the spring 11, and when the universal wheel 10 is extruded, the spring 11 contracts, so that the robot is adapted to the wall surface of the cabin with radian.

The collar part of the electric brush collar 1 and the inner ring 8 of the driving wheel are made of insulating materials, and the center platform 6, the bracket 5 and the connecting shaft 4 are made of conductive materials.

A plurality of conductive sheets 12 are arranged between the inner ring 8 of the driving wheel and the connecting shaft 4, and are uniformly distributed in the inner ring 8 of the driving wheel in circumference.

An electrode 13 is arranged at the tail of the center platform 6, and one end of the electromagnet coil 2 is powered by the center platform 6, the bracket 5, the connecting shaft 4 and the conducting strip 12 in sequence.

Each brush sleeve ring 1 is provided with two brushes, namely a dependent brush 14 and a forward brush 15, which are respectively contacted with one end of an electromagnet of the electromagnet coil 2 and conduct electricity, and the four brushes of the left brush sleeve ring 1 and the right brush sleeve ring 1 are respectively connected to four I/O ports of a controller.

Besides the water gun 7, other working instruments and equipment can be mounted on the robot, and in other use occasions, the working principle of the robot can meet other use requirements to finish different works.

The working principle of the invention is as follows:

for convenience of explanation, the two brushes on the brush collar 1 are named respectively, the dependent brush 14 is arranged opposite to the wall surface of the ship, and the forward brush 15 is arranged at a certain forward inclination angle, as shown in fig. 1.

(1) When the robot is still attached to the metal wall surface

The forward brushes 15 on both the left and right sides are not energized, and no attractive force is generated. The attaching brushes 14 on the left side and the right side are electrified to generate magnetic attraction, and the attraction force enables the robot to attach to the wall surface.

(2) When the robot needs to advance

The attaching brushes 14 on the left side and the right side are electrified, so that the robot can attach to the wall surface, the posture is kept stable, when the robot needs to advance, the advancing brushes 15 on the left side and the right side are electrified, attractive force is generated, the front end of the driving wheel is stressed, then the attaching brushes 14 on the left side and the right side are powered off, and the driving wheel rolls forwards under the effect of the pressure of the front end. At the moment, the connecting shaft 4 and the driving wheel roll relative to the wall surface, and the center platform 6, the support frame and the electric brush lantern ring 1 translate relative to the wall surface. Because the lantern ring does not rotate along with the driving wheel, the electromagnet originally connected with the advancing electric brush slides away from the advancing electric brush when the driving wheel rotates and is closed with the attaching electric brush, and the attaching electric brush is electrified at the moment, so that the robot is attached to the wall surface of the cabin, and the robot can move forwards by alternately powering on and off.

(3) When the robot needs to turn

Taking the left turn of the robot as an example, the attached brushes 14 on the left side and the right side are electrified, so that the robot can be attached to the wall surface, the gesture is kept stable, the advancing brush 15 on the left side is not electrified, the left driving wheel stops at the original position, the advancing brush 15 on the right side is electrified, the right wheel rolls forwards, and the robot turns leftwards by utilizing the differential principle. At this time, the connection shafts 4 on the left and right sides are rotated relatively.

While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.

Claims

1. Cabin cleaning robot based on electromagnetic principle, its characterized in that: the electric brush type water gun comprises a driving wheel, an electric brush sleeve ring (1), an electromagnet coil (2), a coaxial hinge (3), a connecting shaft (4), a bracket (5), a center platform (6), a water gun (7) and a universal supporting wheel; the water gun (7) is arranged at the bottom of the center platform (6); the center platform (6) is fixedly connected with the brush collars (1) on the left side and the right side through screws and two brackets (5); the two electric brush collars (1) are respectively nested on the left connecting shaft (4) and the right connecting shaft (4), and the two connecting shafts (4) are connected through the coaxial hinge (3); the other ends of the two connecting shafts (4) are fixedly connected with the driving wheel; a plurality of electromagnet coils (2) are fixed on the inner ring of the driving wheel; each electromagnet coil is in contact with and conducts electricity with an electric brush on the electric brush sleeve ring (1); the two universal supporting wheels are respectively arranged at the front end and the rear end of the bottom of the center platform (6); each electric brush lantern ring (1) is provided with two electric brushes, namely a dependent electric brush (14) and an advancing electric brush (15), which are respectively contacted with one end of an electromagnet of the electromagnet coil (2) and conduct electricity, and the four electric brushes of the left electric brush lantern ring and the right electric brush lantern ring (1) are respectively connected to four I/O ports of the controller.

2. The cabin cleaning robot based on the electromagnetic principle according to claim 1, wherein: the driving wheel comprises a driving wheel inner ring (8) and a driving wheel outer ring (9), and the driving wheel inner ring and the driving wheel outer ring are matched through a sliding groove and can rotate relatively.

3. The cabin cleaning robot based on the electromagnetic principle according to claim 1, wherein: the universal supporting wheel comprises a universal wheel (10) and a spring (11), wherein the universal wheel (10) is arranged on the center platform (6) through the spring (11), and when the universal wheel (10) is extruded, the spring (11) contracts, so that the robot is adapted to the wall surface of the cabin with radian.

4. The cabin cleaning robot based on the electromagnetic principle according to claim 1, wherein: the electric brush sleeve ring (1) comprises a sleeve ring part, a driving wheel inner ring (8) and a central platform (6), a support (5) and a connecting shaft (4), wherein the sleeve ring part and the driving wheel inner ring (8) are made of insulating materials, and the central platform is made of conductive materials.

5. Cabin cleaning robot based on electromagnetic principle according to claim 2, characterized in that: a plurality of conductive sheets (12) are assembled between the driving wheel inner ring (8) and the connecting shaft (4), and are uniformly distributed in the driving wheel inner ring (8) in a circumferential manner.

6. The cabin cleaning robot based on the electromagnetic principle according to claim 1, wherein: an electrode (13) is arranged at the tail of the center platform (6), and one end of the electromagnet coil (2) is powered by the center platform (6), the support (5), the connecting shaft (4) and the conducting strip (12) in sequence.