CN102336258B - Robot placer of ship track type quick plugging plate - Google Patents
Robot placer of ship track type quick plugging plate Download PDFInfo
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- CN102336258B CN102336258B CN201110175468.0A CN201110175468A CN102336258B CN 102336258 B CN102336258 B CN 102336258B CN 201110175468 A CN201110175468 A CN 201110175468A CN 102336258 B CN102336258 B CN 102336258B
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Abstract
The invention relates to a robot placer of a ship track type quick plugging plate. The placer comprises a roller. The track type quick plugging plate is wound on the roller. The two ends of a middle axle of the roller are backwardly connected to an operation rod. The rear end of the operation rod is connected to the body of the robot placer at the rear side through an articulated shaft. A magnetic wheel or a rubber wheel is arranged at the bottom of the robot placer. A buoyancy compartment and a buoyancy compartment functional unit for realizing the upward floating or downward diving function of the buoyancy compartment are arranged in the body of the robot placer. The articulated shaft of the operation rod is connected to an operation rod driving unit positioned in the body of the robot placer. The buoyancy compartment functional unit and the operation rod driving unit are connected to a motion control unit and a power supply unit outside through a cable. The placer of the track type quick plugging plate disclosed by the invention is used for repairing and plugging the outer leakage point of the ship side of a marine ship; the quick plugging plate can be quickly placed at the leakage point; therefore, the loss is reduced; and the ship is prevented from further overturning.
Description
Technical field
The present invention relates to a kind of leak stopper peculiar to vessel, more particularly, relate to a kind of for throwing in the dispenser of track type quick plugging plate.
Background technology
In casualty, due to the large hole crack of the impaired formation of shutoff hull quickly and effectively, water pours in cabin, loses buoyancy and sinks, and the tragedy of similar Titanic and leap wheel can be found everywhere.Conventionally the underwater leak stopping of boats and ships is quite difficulty, especially large hole crack, and manpower is difficult to contend with the immense pressure of water.
Summary of the invention
The invention provides a kind of dispenser that discharges track type quick plugging plate, stifled for repairing of the outer leak source of marine ships ship side, the strength that can utilize leak source swelling to enter makes shutoff tighter, and resistance is turned to power, impulsive force is turned to the guidance force of laying; With water water processed, turn harm into good, reach the object in reliable quick blocking hole crack.The use of dispenser simultaneously can be rendered to leak source by fast closure plate fast, thereby reduces loss, reaches the danger that prevents that boats and ships from further toppling.This dispenser mainly relies on robot remote control means to throw in, and for super large marine, uses, and the position especially large for leak source, manpower cannot touch is used.
In order to achieve the above object, a kind of robot placer of ship track type quick plugging plate of the present invention, comprise a cylinder, track type quick plugging plate is wound in and on described cylinder, forms crawler belt volume, described cylinder axis two ends are backward connects control lever, forward edge picks out a pole, and the front end of pole is fixed with headlight and front camera.Described track type quick plugging plate comprises the thin plate that a word is arranged and connected; Between adjacent two described thin plates, by hinge unit, connect, thus whole formation caterpillar band type; The described thin plate one side integral slab face of caterpillar band type is attached with rubber diaphragm, and opposite side integral slab face is attached with protection face; One deck rubber gasket is also posted in described protection face outside; Described rubber diaphragm extends shirt rim in described thin plate outer rim, the edge seal of described shirt rim and described rubber gasket; Described in each, on the transverse ends plate face of thin plate, posted respectively magnetic sheet pair.Above-mentioned track type quick plugging plate, product structure is reliable, practical, and thin plate is sealed, and can reduce the corrosion of thin plate.
In addition, the rear end of aforesaid operations bar is connected on the robot placer fuselage of rear side by jointed shaft; Described robot placer bottom is provided with magnet pulley or rubber tire; The buoyancy compartment functional unit that is provided with buoyancy compartment in described robot placer fuselage and realizes described buoyancy compartment floating or dive function.The jointed shaft of aforesaid operations bar has connected the control lever driver element that is positioned at robot placer fuselage.Described buoyancy compartment functional unit and control lever driver element connect outside action control unit and power supply unit by cable; Accordingly, on described robot placer body shell, offer cable interface.
Under optimal way, described robot placer fuselage outer side is also equipped with mechanical arm, and the front end of mechanical arm adds boring, cutting tool, or adds welding, surveys, discharges, gets thing instrument; The driver train of described mechanical arm, cutter and instrument also connects outside described action control unit and power supply unit by cable.
Robot placer of ship track type quick plugging plate of the present invention, a kind of optimal way, dispenser bottom is provided with four-wheel or two row's six magnet pulley of taking turns or rubber tires.Another kind of optimal way, described magnet pulley comprises the guiding magnet pulley that anterior juxtaposed two wheel bodys and rear portion midway location arrange; And the outside cladding of described magnet pulley one deck antifriction rubber.
Under optimum way, dispenser bottom disposes pumping negative formula sucker, and in corresponding dispenser fuselage, configuration pump is inhaled driver element; Described pump is inhaled driver element and is connected described action control unit and power supply unit by cable.
In addition, in order to expand the use ability of robot, rear underwater lamp, rear camera are installed in robot placer rear portion, anterior auxiliary underwater lamp and the auxiliary camera installed.Meanwhile, robot placer fuselage may be configured with front and back two cover laser collimation devices.Aforesaid operations bar is selected length adjustable expansion link.
The improvement of above-mentioned track type quick plugging plate is, each thin plate upper punch is pressed with ups and downs rib, to strengthen the intensity of thin plate.In addition, the independent heaving pile being fixed on the every a slice thin plate in inner side is preset in protection face outside, and after the leak source on repairing stifled ship side, the heaving pile of track type quick plugging plate protection face can be fixed in cabin, makes to repair stifled more firm.The right preferred arrangement of above-mentioned magnetic sheet is: two right magnetic sheets of magnetic sheet adhere on described thin plate in the extremely reverse mode of the N utmost point, S respectively.
Dispenser of the present invention mainly relies on robot remote control means to throw in, and for super large marine, uses, and position especially large for leak source, that manpower cannot touch is used.Fuselage outer side adds mechanical arm, and the front end of mechanical arm adds boring, cutting tool, or adds welding, survey, discharge, get thing instrument; But also two cover laser collimation devices before and after disposing are convenient to accurately lay fast closure plate.When there is marine accident, dispenser of the present invention is placed in to the place ahead, outboard side cut place, robot Automatic-searching leak source, is attached to track type quick plugging plate on ship side automatically, and crawler belt volume rolls along cut, and track type quick plugging plate is the whole breach of shutoff just.The beneficial effect of robot placer of ship track type quick plugging plate of the present invention is as follows:
1. conventionally the underwater leak stopping of boats and ships is quite difficulty, especially large hole, and manpower is difficult to contend with the immense pressure of water.Adopt robot placer of ship track type quick plugging plate to throw in track type quick plugging plate, implement outboard leak stopping, resistance can be turned to power, impulsive force is turned to the guidance force of laying.With water water processed, turn harm into good, reliable shutoff hole crack.
2. track type quick plugging plate robot is equipped with magnet pulley, is attached to ship side, makes whole system have failure-free mechanics fulcrum on the quarter.Guiding magnet pulley has steering capability, and robot degree of freedom is larger, can make robot placer do compound movement on the quarter.Rubber tire and pumping negative formula sucker are applicable to nonferromagnetic ship side.Rubber tire is applicable to nonferromagnetic ship side, strengthens the resistance to abrasion of wheel body.
3. the scalable mechanical arm of plug-in type can be laid the crawler belt volume of different size, to adapt to different average situations.The mechanical arm of underwater lamp, camera is installed needn't be changed.
4. illumination, camera are provided is operating personal eyes under water to underwater lamp.
5, be equipped with front and back two cover mechanical arms, underwater lamp, camera and laser collimation device.Be convenient to tackle emergency case.
6. lightweight with the track type quick plugging plate intensity height of punching press rib.Sound construction, is easy to laminating with damaged face.
7. reinforcing fiber foam rubber sealing pad shutoff anomalous fracture face reliably.Pressure under water is just enough to packing seal being pressed on ship side tightly.
8. adjacent surface is that high suction thin magnetic plate that N.S is fixing is to strengthening the binding force of track type quick plugging plate and damaged face.
9. the preset heaving pile of protection face is convenient to inboard and is fixed, and anti-outboard impacts, and reliability increases.
10. the compound one deck rubber diaphragm of fast closure plate outside face, and sealing property has been improved in the sealing shirt rim that marginal portion extends to form.
11. crawler belt volumes are convenient to lay fast, strive for the valuable time.Particularly, if the damaged comparison rule of breach, hole is not too dark again apart from the water surface, can in cabin, directly lay strong magnetic force caterpillar block.
12. if conditions permits can directly be laid the leak stopping of strong magnetic force caterpillar block in cabin, more quick.
13. robots are with sealing buoyancy compartment, even out of control, robot still can be attached to ship side or swim on the water surface, can not lose.
14. robots adopt cable remote control, and interference protection increases reliability.
15. robots adopt and exchange, low pressure submersible machine, and safety increases.Front and back wheel power separately, increases dynamic reliability.
16, the replaceable different crawler belt volumes of mechanical arm, also replaceable different types of universal machine arm, completes different tasks, as bored, cut, weld, survey, discharge, capture, defending oneself ... commonality strengthens, and cost performance improves.
17, robot can vertically be thrown near cut by discharging platform, and Robot inclined-plane enters ship side work area, sues and labours rapider.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of a kind of embodiment of crawler belt speed closure plate robot placer of the present invention;
Fig. 2 is the plan structure schematic diagram of the speed of crawler belt shown in Fig. 1 closure plate robot placer;
Fig. 3 is the integral structure schematic diagram of crawler belt speed closure plate robot placer the second embodiment of the present invention;
Fig. 4 is the structural representation of looking up of the third embodiment of crawler belt speed closure plate robot placer of the present invention;
Fig. 5 is the structural representation of the magnet pulley embodiment of robot placer bottom;
Fig. 6 is the structural representation of the second magnet pulley embodiment;
Fig. 7 is the structural representation of the third magnet pulley embodiment;
Fig. 8 is the structural representation of the 4th kind of magnet pulley embodiment;
Fig. 9 is the structural representation of the 5th kind of magnet pulley embodiment;
Figure 10 is provided with the main TV structure schematic diagram of strong magnetic piece to crawler belt speed closure plate;
Figure 11 is the plan structure schematic diagram of Figure 10 middling speed closure plate.
Figure 12 is the right structure for amplifying schematic diagram of strong magnetic piece;
Figure 13 is a kind of main TV structure schematic diagram of the track type quick plugging plate with punching press rib;
Figure 14 is the plan structure schematic diagram of Figure 13 middling speed closure plate;
Figure 15 is the main TV structure schematic diagram of shaped form crawler belt speed closure plate;
Figure 16 is the plan structure schematic diagram of Figure 15 middling speed closure plate;
Figure 17 is the structural representation of drum-shape dispenser.
The specific embodiment
The structure of track type quick plugging plate as shown in Figure 13 and 14, comprises the thin plate that a word is arranged and connected; Between adjacent two thin plates, by hinge unit, connected, thus whole formation caterpillar band type, and number in the figure 62 represents the crawler belt of integral forms.In addition, each thin plate upper punch is pressed with ups and downs rib 63.Thin plate is that metal or the non-metallic material that intensity meets leak stopping needs made.
The structure of strong magnetic piece to crawler belt speed closure plate, also comprises that whole one-tenth caterpillar band type is hinged and is formed by thin plate 65 as shown in FIG. 10 and 11; The edge that is positioned at boundary between adjacent sheet 65 arranges jointed shaft along the length direction.In addition, the thin plate 65 1 side integral body of caterpillar band type are attached with rubber diaphragm 66, and opposite side integral body is attached with protection face 67; One deck rubber gasket 68 is also posted in protection face 67 outsides; Rubber diaphragm 66 extends the shirt rim 61 with rubber gasket 68 edge seals in thin plate outer rim.Film rubber gasket 68 is preferentially selected foamed rubber.In addition, shown in figure, the two ends lateral outer side of each thin plate 65 has posted respectively thin strong magnetic piece to 64, and on protection face 67, presets the heaving pile 70 being fixed on every a slice thin plate 65; In other words, every a slice thin plate 5 is connected with heaving pile 10, keeps somewhere in outside.Protection face selects reinforcing fiber fabric to make, for guaranteeing packing seal intensity.
Said structure is simply summarized as, on speed closure plate protection face 67, paste one deck reinforcing fiber foam rubber sealing pad 68, edge embeds the fixing thin strong magnetic piece of high suction to 64, and adjacent surface is the preset heaving pile 70 of N.S magnetic level outer side covers face, is securely fixed on every a slice speed closure plate.
As shown in figure 12, two right magnetic sheets of thin strong magnetic piece adhere on thin plate 65 in the extremely reverse mode of the N utmost point, S respectively, between two magnetic sheets, leave gap.Wherein, in order to guarantee the intensity of fast closure plate, thin plate material can be metal material, preferably the irony thin plate of magnetic conductor.While other types, as plastics, rubber sheet are also suitable for, now, magnetic sheet is to built-in thin sheet surface or the inside be fixed on.
A kind of track type quick plugging plate with turning function as shown in Figure 15 and Figure 16, it is compared with Figure 10 and 11 embodiment differences, articulated form between adjacent described thin plate 65 is: a pin-joint piece 69 that is overlapped on another sheet panel top face is extended at the middle part of a sheet panel top face, and wears bearing pin perpendicular to pin-joint piece and overlapped thin plate.This mode is applicable to the position of the curved shape of breakage to be used, and during use, shaped form crawler belt speed closure plate, adopts and can turn to connection between plate, between plate, overlaps, and rubber diaphragm is suitably loose, leaves and turns to leeway.
It should be noted that, the compound one deck rubber diaphragm 66 of above-mentioned fast closure plate outside face, extends to form sealing shirt rim 61 in marginal portion, and its object is intended to better tightness after shutoff.
The use of track type quick plugging plate illustrates in conjunction with Figure 17, before track type quick plugging plate input, twists on cylinder, forms crawler belt volume.Crawler belt volume is outer is surrounded by protecting sleeve, removes protecting sleeve during input, in order to avoid suct unnecessary ferrimagnetism object before throwing in.Cylinder axis two side ends is backward connects control lever, and forward edge picks out a pole, and the front end of pole is fixed with headlight 1 and front camera 2.During use, by being that crawler belt volume leads, at the lower rolling cylinder of assisting of headlight and front camera, discharge fast closure plate, promote crawler belt volume and advance along breakage, track type quick plugging plate is the automatic damaged breach that covers, and realizes the shutoff at cut place.The heaving pile of track type quick plugging plate protection face can be fixed in cabin.
Under optimal way, entire volume speed closure plate is all adsorbed in hull outside, and reel and control lever are finished using inside the collapsible side of a ship on deck in dispenser case.In use procedure, select as the case may be monolithic and the whole specification of caterpillar block, size can adopt normalisation, Seriation Design, and supporting with dispenser.
A kind of embodiment of crawler belt of the present invention speed closure plate robot placer as illustrated in fig. 1 and 2, comprise a cylinder, track type quick plugging plate is wound in and on cylinder, forms crawler belt volume 3, cylinder axis two side ends is backward connects control lever, forward edge picks out a pole, and the front end of pole is fixed with headlight 1 and front camera 2.Control lever is male telescope bar; The rear end of control lever is articulated with on the fuselage of robot placer of rear side.Control lever is length adjustable expansion link.The structure of expansion link can be selected any one extending, to shrink bar type structure under prior art, the hydraulic telescopic type structure that for example hydraulic actuating cylinder, piston, piston rod three form; Or the thread rod being threaded connection and screw thread bush structure; Again or plug-in type bar/barrel structure, outside wears establishes stop pin etc.
The rear end of control lever is connected on the robot placer fuselage of rear side by jointed shaft.The jointed shaft of control lever has connected the control lever driver element that is positioned at described robot placer fuselage.The buoyancy compartment functional unit that the inner chamber of robot placer fuselage is provided with the sealing buoyancy compartment of hollow and realizes buoyancy compartment floating or dive function.Above-mentioned buoyancy compartment functional unit and control lever driver element connect outside action control unit and power supply unit by cable.On robot placer body shell, offer cable interface 7.Wherein, action control unit, for the action of instruction execution unit, as command operating bar rotates around hinge-point, is adjusted the position that crawler belt volume discharges; For another example instruction buoyancy compartment starting floating or dive action etc.And power supply unit is primary for the required electric energy of execution unit, power are provided.
Robot placer bottom is provided with four-wheel or two row's six magnet pulleies of taking turns 12 or bottom and rubber tire is set and configures pumping negative formula sucker, can make robot seek connections with in ship side and move.While there is marine accident, track type quick plugging plate is thrown in by dispenser.Dispenser is equipped with magnet pulley and is attached to ship side; To nonferromagnetic ship side dispenser use rubber tire, join pumping negative formula sucker and be attached to ship side.That is to say, dispenser bottom disposes pumping negative formula sucker, and in corresponding dispenser fuselage, configuration pump is inhaled unit, and sucker is placed in outside ship side, inhales unit the water body in sucker is siphoned away by pump, and sucker is closely abutted on ship side, reaches adsorption effect.Accordingly, pump is inhaled driver element and is arranged in dispenser fuselage, connects outside action control unit and power supply unit, thereby realize absorption and the application capability of sucker by cable.
In addition, as shown in the figure, rear underwater lamp 8, rear camera 6 are installed in robot placer rear portion, auxiliary underwater lamp 11 and auxiliary camera 4.In Fig. 1, on robot placer body shell, offer cable interface 7, for cable, connect.Robot placer is adsorbed on ship side 9 by the magnet pulley 12 of bottom.In Fig. 2, the mechanical arm after label 10 expressions are installed additional.That is to say, robot placer fuselage outer side adds mechanical arm, and the front end of mechanical arm adds boring, cutting tool, or adds welding, survey, discharge, get thing instrument.In addition, robot placer fuselage also disposes front and back two cover laser collimation devices.The driver train of above-mentioned mechanical arm, cutter and instrument also connects outside described action control unit and power supply unit by cable.
Robot also can front and back installing crawler belt volume 3.Particularly robot of the present invention is with sealing buoyancy compartment, and during bringing onto load, overall buoyancy is a bit larger tham overall weight, once out of control, robot still can be attached to ship side or swim on the water surface, and center of buoyance and design of centre of gravity are substantially identical, and mass distribution is balanced as far as possible with buoyancy distribution.Robot preferentially adopts interchange, low pressure submersible machine, and front and back wheel power is separately.
As shown in Figure 3, the embodiment of the second crawler belt speed closure plate robot placer, also be to be adsorbed on ship side 9 by magnet pulley, on robot fuselage, offer cable interface 7, back light 8, headlight 1, front camera 22 (rotating mechanism is set), 360 degree cameras 25 are also set and by the mechanical arm that is articulated and connected on fuselage, the replaceable different crawler belt volumes of mechanical arm, also replaceable different types of universal machine arm, complete different tasks, as bored, cut, weld, survey, discharge, capture, defending oneself etc., as the parting tool in Fig. 3, hook up instrument 26.
As shown in Figure 4, the embodiment of the third crawler belt speed closure plate robot placer, robot can descend water voluntarily, also can vertically throw near cut by discharging platform 14, and Robot inclined-plane enters ship side work area.In Fig. 4, label 1 represents headlight, flash lamp for photography before label 2 represents, and label 3 represents crawler belt volume, label 4 represents auxiliary camera, camera after label 6 represents, and label 7 represents cable interface, label 8 is back light, and label 12 is magnet pulley, and label 13 is for discharging bar (discharging for hand-held).
Robot placer is installed magnet pulley, and adsorbable in ship side motion, magnet pulley 15 comprises the guiding magnet pulley that anterior juxtaposed two wheel bodys and rear portion midway location arrange, and guiding magnet pulley has steering capability; Magnet pulley and ship side contact surface can clad one deck antifriction rubber, increase adhesive ability.Structure five kinds of embodiments as shown in Fig. 5-9 of concrete magnet pulley, in figure, label 41 represents steel disc, and label 42 represents magnet ring, and label 43 represents rubber tire, and label 44 represents antifriction rubber layer, label 45 represents the position of rubber shutoff.
Under optimum way, robot placer front end is installed high light underwater lamp (high-brightness LED light emitting array), high sensitivity underwater camera head and laser aligner, by watch-dog monitoring launch process in cabin.The illuminating lamp of robot placer setting of the present invention and picture pick-up device power supply can adopt powered battery, also can pass through cable power supply.
Drum operations bar is male telescope bar, and in rear end, is articulated with on the robot placer fuselage of rear side.The scalable mechanical arm of plug-in type can be laid the crawler belt volume of different size, keeps suitable distance with ship side, and robot placer moves to breakage the place ahead crawler belt is rolled up ship side.That is to say, while there is marine accident, track type quick plugging plate is thrown in by robot placer.Robot placer is equipped with magnet pulley and is attached to ship side; Nonferromagnetic ship side is used to rubber tire, join pumping negative formula sucker and be attached to ship side.Robot placer under the guiding of lamp and camera, arrives at rapidly breakage under water, lays fast fast closure plate, shutoff broken hole, breach.Can enter after heaving pile in cabin lays and will reliably fix.
The above; it is only the preferably specific embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; according to technical scheme of the present invention and inventive concept thereof, be equal to replacement or changed, within all should being encompassed in protection scope of the present invention.
Claims (10)
1. a robot placer of ship track type quick plugging plate, it is characterized in that, comprise a cylinder, track type quick plugging plate is wound in and on described cylinder, forms crawler belt volume (3), the backward attended operation bar in described cylinder axis two ends, pole of forward connection, the front end of pole is fixed with headlight (1) and front camera (2);
Described track type quick plugging plate comprises the thin plate (65) that a word is arranged and connected; Between adjacent two described thin plates, by hinge unit, connect, thus whole formation caterpillar band type; Described thin plate (65) the one side integral slab faces of caterpillar band type are attached with rubber diaphragm (66), and opposite side integral slab face is attached with protection face (67); One deck rubber gasket (68) is also posted in described protection face (67) outside; Described rubber diaphragm (66) extends shirt rim (61) in described thin plate (65) outer rim, the edge seal of described shirt rim (61) and described rubber gasket (68); On the transverse ends plate face of thin plate described in each (65), posted respectively magnetic sheet to (64);
Wherein, the rear end of described control lever is connected on the robot placer fuselage of rear side by jointed shaft; Described robot placer bottom is provided with magnet pulley or rubber tire; The buoyancy compartment functional unit that is provided with buoyancy compartment in described robot placer fuselage and realizes described buoyancy compartment floating or dive function;
The jointed shaft of described control lever has connected the control lever driver element that is positioned at described robot placer fuselage;
Described buoyancy compartment functional unit and control lever driver element connect outside action control unit and power supply unit by cable; Accordingly, on described robot placer body shell, offer cable interface (7).
2. robot placer of ship track type quick plugging plate according to claim 1, is characterized in that, described robot placer fuselage outer side is also equipped with mechanical arm;
The front end of described mechanical arm adds boring, cutting tool, and the driver train of described mechanical arm and described cutter is connected outside described action control unit and power supply unit by cable;
Or the front end of described mechanical arm adds welding, surveys, discharges, gets thing instrument, the driver train of described mechanical arm and described instrument is connected outside described action control unit and power supply unit by cable.
3. robot placer of ship track type quick plugging plate according to claim 2, is characterized in that, described robot placer bottom is provided with four-wheel or two row's six magnet pulley of taking turns (12) or rubber tires.
4. robot placer of ship track type quick plugging plate according to claim 2, is characterized in that, described magnet pulley comprises the guiding magnet pulley that anterior juxtaposed two wheel bodys and rear portion midway location arrange; And the outside cladding of described magnet pulley one deck antifriction rubber.
5. according to the arbitrary described robot placer of ship track type quick plugging plate of claim 1-4, it is characterized in that, described dispenser bottom disposes pumping negative formula sucker, and in corresponding described dispenser fuselage, configuration pump is inhaled driver element; Described pump is inhaled driver element and is connected described action control unit and power supply unit by cable.
6. robot placer of ship track type quick plugging plate according to claim 5, it is characterized in that, rear underwater lamp (8), rear camera (6) are installed in described robot placer rear portion, anterior auxiliary underwater lamp (11) and the auxiliary camera (4) installed.
7. crawler belt speed closure plate robot placer according to claim 6, is characterized in that two cover laser collimation devices before and after described robot placer fuselage disposes.
8. robot placer of ship track type quick plugging plate according to claim 7, is characterized in that, described control lever is length adjustable expansion link.
9. robot placer of ship track type quick plugging plate according to claim 8, is characterized in that, the heaving pile (70) being fixed on the every a slice thin plate in inner side (65) is preset in described protection face (67) outside.
10. robot placer of ship track type quick plugging plate according to claim 9, is characterized in that, described magnetic sheet adheres on described thin plate (65) in the extremely reverse mode of the N utmost point, S respectively two of (64) magnetic sheets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110175468.0A CN102336258B (en) | 2011-06-27 | 2011-06-27 | Robot placer of ship track type quick plugging plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110175468.0A CN102336258B (en) | 2011-06-27 | 2011-06-27 | Robot placer of ship track type quick plugging plate |
Publications (2)
| Publication Number | Publication Date |
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| CN102336258A CN102336258A (en) | 2012-02-01 |
| CN102336258B true CN102336258B (en) | 2014-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110175468.0A Expired - Fee Related CN102336258B (en) | 2011-06-27 | 2011-06-27 | Robot placer of ship track type quick plugging plate |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105221496B (en) * | 2014-06-27 | 2018-04-06 | 水科运达交通科技开发（北京）有限公司 | A kind of hydraulic control system of underwater drilling oil pumping Integration Equipment |
| CN113401301A (en) * | 2021-07-22 | 2021-09-17 | 北京丰润铭科贸有限责任公司 | Method for coping with cabin damage and water leakage by using novel maritime work robot |
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| BG51089A1 (en) * | 1990-12-07 | 1993-02-15 | Univ Tekhnicheski | A device for hole plugging |
| CN201626540U (en) * | 2010-02-26 | 2010-11-10 | 张习斌 | Releasing bracket for magnetic emergency leaking stoppage curtain |
| CN101941512A (en) * | 2010-08-19 | 2011-01-12 | 天津神封科技发展有限公司 | Underwater positioning and conveying system using strongly magnetic plugging tool |
| CN202163595U (en) * | 2011-06-27 | 2012-03-14 | 大连海事大学 | Handheld dispenser for crawler-type rapid baffle for ship |
| CN202163594U (en) * | 2011-06-27 | 2012-03-14 | 祖冰清 | Crawler type quick plugging plate mechanical caster for ships |
| CN202219836U (en) * | 2011-06-27 | 2012-05-16 | 李维祥 | Robot dispenser for crawler-type quick plugging plate in ship |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5025972A (en) * | 1990-02-06 | 1991-06-25 | Finlan William P | Apparatus for patching a hole in the hull of a moving ship |
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2011
- 2011-06-27 CN CN201110175468.0A patent/CN102336258B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BG51089A1 (en) * | 1990-12-07 | 1993-02-15 | Univ Tekhnicheski | A device for hole plugging |
| CN201626540U (en) * | 2010-02-26 | 2010-11-10 | 张习斌 | Releasing bracket for magnetic emergency leaking stoppage curtain |
| CN101941512A (en) * | 2010-08-19 | 2011-01-12 | 天津神封科技发展有限公司 | Underwater positioning and conveying system using strongly magnetic plugging tool |
| CN202163595U (en) * | 2011-06-27 | 2012-03-14 | 大连海事大学 | Handheld dispenser for crawler-type rapid baffle for ship |
| CN202163594U (en) * | 2011-06-27 | 2012-03-14 | 祖冰清 | Crawler type quick plugging plate mechanical caster for ships |
| CN202219836U (en) * | 2011-06-27 | 2012-05-16 | 李维祥 | Robot dispenser for crawler-type quick plugging plate in ship |
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| CN102336258A (en) | 2012-02-01 |
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