CN104827477B - The suspension type warship body cleaning robot that a kind of teenager defence education is special - Google Patents
The suspension type warship body cleaning robot that a kind of teenager defence education is special Download PDFInfo
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- CN104827477B CN104827477B CN201510248310.XA CN201510248310A CN104827477B CN 104827477 B CN104827477 B CN 104827477B CN 201510248310 A CN201510248310 A CN 201510248310A CN 104827477 B CN104827477 B CN 104827477B
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Abstract
nullThe suspension type warship body cleaning robot that a kind of teenager defence education is special，Including naval vessels deck platform 1、Trigger 2、Deck magnetic fixing lifting combination type manipulation instrument 3、Cleanout fluid device 4、Robot band video camera head 5、Apery type left hand suction tray 6、Apery type right hand suction tray 7、Clean water device 8、The right sufficient suction tray 9 of apery type、Robot chest disc rotary round brush 10、Band chain sling combined data line seat belt 11、Flexible pipe 12、The left sufficient suction tray 13 of apery type，It is high that the present invention has safety coefficient、Protective capacities is strong、The excellent feature that cleaning efficiency is fast，And adapt to warship body washing and cleaning operation highly difficult to naval vessels exterior string under complicated sea situation，It it is a intellectuality、Specialized、The teaching robot being exclusively used in teenager defence science Quality Education training of practicality，Can promote teenager that the science and techniques of defence are probed into，Promote China's national defense equipment machine man-based development.
Description
Technical field
The present invention relates to educational robot field, the suspension type warship body particularly relating to a kind of teenager defence education special is clear
Wash robot.
Background technology
In recent years, along with China's warship participates in international peace mission and participates in solving the international efforts of area problem, China
The special duty that warship is undertaken gets more and more, and Chinese warship in 2013 is destroyed chemical weapons sea-freight for Syria first and escorted, as
After where completing task, naval vessels are carried out core biochemistry and biochemical pollution decontamination operation and antiradiation pollution cleaning is the new class faced
Topic, traditional decontamination operation refer to by manually to be infected with exterior string in the naval vessels of toxic agent, biological warfare agent, radioactive substance, equipment,
Goods and materials, weapon, personnel etc. carry out disinfection and eliminate the measure of contamination, it is therefore an objective to make the naval vessels being contaminted avoid or alleviate injury, make
The equipment that is contaminted, goods and materials etc. can normally use, and are more than referred to as meaning " three prevent ", such as the protection to Nuclear Biological Chemical weapon, are to save from damage to have
One of raw strength, the effective means keeping lasting fight capability.Naval vessels " three prevent " because of the special of its carrier with other kinds of
" three prevent " are otherwise varied, but what purpose was just as, and i.e. protection ship rocking and Ship Equipment are from the injury of core chemical and biological weapons,
To save fight capability from damage." three prevent " of naval vessels build and are accompanied by the development of core chemical and biological weapons and the most perfect, go through from only
Possesses the simple artificial protection progress to complicated integrated protection.Through the development of many decades, " three prevent " of army of China boat is each
Technology has had and has developed on a large scale very much, but with the U.S. be equipped with at aircraft carrier, amphibious assault ship, cruiser, destroyer and control vessel etc. three
Anti-equipment, my army also has gap.
Naval vessels are except the special protection of " three prevent ", the daily marine growth underwater cleaning carried out warship at ordinary times and corrosion prevention operation
Clean,
Naval vessels exterior string strake, propeller are carried out marine growth underwater cleaning, to positions such as trash rack, bulb bow, rudders
Carry out marine growth underwater cleaning, warship exterior string strake, floor, rudder, trash rack, bulb bow etc. are carried out anticorrosion mopping and
Warship body after anticorrosion mopping be carried out, record a video, inspection etc., be all badly in need of a kind of antiradiation of exploitation and pollute " three prevent " washing and cleaning operation
With a set of special equipment of naval vessels exterior string warship body decontamination operation, the suspension type warship body that the present invention a kind of teenager defence education is special
This is researched and developed by cleaning robot exactly specially, through retrieval, does not finds that similar special product comes out.
Summary of the invention
The invention provides the suspension type warship body cleaning robot that a kind of teenager defence education is special.
The suspension type warship body cleaning robot that a kind of teenager defence education of the present invention is special, puts down including naval vessels deck
Platform, trigger, deck magnetic fixing lifting combination type manipulation instrument, cleanout fluid device, robot band video camera head, apery type are left
Hands suction tray, apery type right hand suction tray, clean water device, the right sufficient suction tray of apery type, robot chest disc rotary round brush, band
Chain sling combined data line seat belt, flexible pipe, the left sufficient suction tray of apery type, the warship string limit of described naval vessels deck platform is provided with magnetic
The deck magnetic that ferrum suction is fixed fixes lifting combination type manipulation instrument, described deck magnetic fixing lifting combination type manipulates instrument and is
Connect trigger and fixed lifting combination type manipulation instrument, the fixing lifting of described deck magnetic by trigger startup deck magnetic
The lower-left end of combination type manipulation instrument is connected by band chain sling combined data line seat belt near the warship string limit of naval vessels deck platform
Robot chest disc rotary round brush, the upper end of described band chain sling combined data line seat belt is connected to deck magnetic and fixes
The lower end of lifting combination type manipulation instrument, the lower end of described band chain sling combined data line seat belt is connected to robot chest circle
The upper end of disc spins round brush, described deck magnetic fixes the right side warship string near naval vessels deck platform of lifting combination type manipulation instrument
Limit connects clean water device and cleanout fluid device, the power supply of the suction pump (not shown) of described clean water device and cleanout fluid device
Being connected on deck magnetic fixing lifting combination type manipulation instrument, deck magnetic fixes the lower end of lifting combination type manipulation instrument by altogether
It is connected with robot chest disc rotary round brush with a flexible pipe of water supply feed flow, described robot chest disc rotary round brush
Upper end installing connection have robot band video camera head, the installing of the left upper end of described robot chest disc rotary round brush is even
Being connected to apery type left hand suction tray, the lower-left end installing connection of described robot chest disc rotary round brush has the left foot of apery type
Suction tray, the upper right side installing connection of described robot chest disc rotary round brush has apery type right hand suction tray, described
The bottom righthand side installing connection of robot chest disc rotary round brush has the right sufficient suction tray of apery type.
Robot band video camera head described further can be by clear on warship body of robot chest disc rotary round brush
Wash operation fact real time delivery of video image to deck magnetic fixing lifting combination type manipulation instrument and by the fixing lifting of deck magnetic
Combination type manipulation instrument manipulates robot chest disc rotary round brush and decides whether to continue clean or clean other scope of operation.
Described further manipulates apery type left hand suction tray, the apery that robot chest disc rotary round brush surrounding is stretched out
The left sufficient suction tray of type right hand suction tray, apery type and the right sufficient suction tray of apery type are to have fixing soft suction tray stationary machines people's chest
Disc rotary round brush is washing and cleaning operation on warship body.
Band chain sling combined data line seat belt described further is by band chain sling combined data line seat belt
Connection deck, suspension type metal chain sling one end magnetic fixing lifting combination type manipulation instrument, the other end connects manipulation robot
On chest disc rotary round brush.
Band chain sling combined data line seat belt described further is by band chain sling combined data line seat belt
Another root is wrapped in connection deck, the data cable one end magnetic fixing lifting combination type manipulation instrument of insulation tube, and the other end connects machine
The robot band video camera head, the apery type left hand that connect on device people's chest disc rotary round brush and chest disc rotary round brush are inhaled
Attached dish, apery type right hand suction tray, the left sufficient suction tray of apery type and the right sufficient suction tray of apery type.
Deck magnetic described further fixing lifting combination type manipulation instrument is by band chain sling combined data line seat belt
Inside it be wrapped in the data cable of insulation tube to the machine connected on robot chest disc rotary round brush and chest disc rotary round brush
Device people carries video camera head, apery type left hand suction tray, apery type right hand suction tray, the left sufficient suction tray of apery type and apery type right
Foot suction tray is powered.
Deck magnetic described further fixing lifting combination type manipulation instrument is by band chain sling combined data line seat belt
Inside it be wrapped in the data cable of insulation tube to the machine connected on robot chest disc rotary round brush and chest disc rotary round brush
Device people carries video camera head, apery type left hand suction tray, apery type right hand suction tray, the left sufficient suction tray of apery type and apery type right
Foot suction tray transmits signal instruction and manipulates the robot band video camera of above-mentioned robot chest disc rotary round brush and connection thereof
Head, apery type left hand suction tray, apery type right hand suction tray, the left sufficient suction tray of apery type and the right sufficient suction tray of apery type are common
Operation.
The cleanout fluid prepared is inserted in cleanout fluid device by the pump machine on cleanout fluid device described further, and by first
Plate magnetic fixes lifting combination type manipulation instrument manipulation cleanout fluid device by cleanout fluid through a flexible pipe note shared with clean water device
Enter robot chest disc rotary round brush for its washing and cleaning operation.
One end water inlet of clean water device described further stretches into the sea water tank in naval vessels by a pumping extinguishing pipe,
Sea water is injected machine through other end flexible pipe by deck magnetic fixing lifting combination type manipulation instrument manipulation clean water device by the other end
People's chest disc rotary round brush is for its washing and cleaning operation.
The beneficial effect of the suspension type warship body cleaning robot that the present invention a kind of teenager defence education is special and excellent feature
It is: it is different from exterior string, equipment, thing in traditional artificial naval vessels that naval vessels are infected with toxic agent, biological warfare agent, radioactive substance
Money, weapon, personnel etc. carry out disinfection and eliminate the technical measures susceptible of contamination, safety coefficient is weak, protective capacities is poor, cleaning
The difficult problem that working performance is low, the present invention has the excellent feature that safety coefficient is high, protective capacities is strong, cleaning efficiency is fast, and adapts to
To the warship body washing and cleaning operation that naval vessels exterior string is highly difficult under complicated sea situation, it is outside the naval vessels of a intellectuality, specialization, practicality
String suspension type warship body cleaning robot, is exclusively used in the teaching robot of teenager defence science Quality Education training, can promote green grass or young crops
The science and techniques of defence are probed into by teenager, promote China's national defense equipment machine man-based development.
Accompanying drawing explanation
Fig. 1 be the special suspension type warship body cleaning robot of the present invention a kind of teenager defence education illustrate figure.
Detailed description of the invention,
Embodiment 1:
According to the suspension type warship body cleaning robot that a kind of teenager defence education shown in Fig. 1 is special, including naval vessels first
Plate platform 1, trigger 2, deck magnetic fixing lifting combination type manipulation instrument 3, cleanout fluid device 4, robot band video camera head
5, apery type left hand suction tray 6, apery type right hand suction tray 7, clean water device 8, the right sufficient suction tray 9 of apery type, robot chest
Disc rotary round brush 10, band chain sling combined data line seat belt 11, flexible pipe 12, the left sufficient suction tray 13 of apery type, described warship
The warship string limit of boat deck platform 1 is provided with the fixing deck magnetic of Magnet suction and fixes lifting combination type manipulation instrument 3, described deck
Magnetic fixing lifting combination type manipulation instrument 3 is to connect trigger 2 and started deck magnetic fixing lifting combination type behaviour by trigger 2
Control instrument 3, described deck magnetic fixes the lower-left end of lifting combination type manipulation instrument 3 near the warship string limit of naval vessels deck platform 1
Robot chest disc rotary round brush 10, described band chain sling combination type is connected by band chain sling combined data line seat belt 11
The upper end of DLS data line security band 11 is connected to deck magnetic and fixes the lower end of lifting combination type manipulation instrument 3, described band chain sling group
The lower end of box-like DLS data line security band 11 is connected to the upper end of robot chest disc rotary round brush 10, and described deck magnetic is fixed
The right side of lifting combination type manipulation instrument 3 connects near the warship string limit of naval vessels deck platform 1 clean water device 8 and cleanout fluid device 4,
Described clean water device 8 and the power supply of the suction pump (not shown) of cleanout fluid device 4 are connected to the fixing lifting combination of deck magnetic
On formula manipulation instrument 3, deck magnetic fixes the lower end of lifting combination type manipulation instrument 3 flexible pipe 12 by shared water supply feed flow
Being connected with robot chest disc rotary round brush 10, the upper end installing connection of described robot chest disc rotary round brush 10 has
Robot band video camera head 5, the left upper end installing connection of described robot chest disc rotary round brush 10 has apery type left
Hands suction tray 6, the lower-left end installing connection of described robot chest disc rotary round brush 10 has the left sufficient suction tray 13 of apery type,
The upper right side installing connection of described robot chest disc rotary round brush 10 has apery type right hand suction tray 7, described machine
The bottom righthand side installing connection of people's chest disc rotary round brush 10 has the right sufficient suction tray 9 of apery type.
The cleaning on warship body of the robot chest disc rotary round brush 10 can be made by above-mentioned robot band video camera head 5
Industry fact real time delivery of video image is to deck magnetic fixing lifting combination type manipulation instrument 3 and by the fixing lifting combination of deck magnetic
Formula manipulation instrument 3 manipulates robot chest disc rotary round brush 10 and decides whether to continue clean or clean other scope of operation.
Above-mentioned manipulates apery type left hand suction tray 6, the apery type that robot chest disc rotary round brush 10 surrounding is stretched out
The left sufficient suction tray 13 of right hand suction tray 7, apery type and the right sufficient suction tray 9 of apery type are to have fixing soft suction tray stationary machines people's breast
Portion's disc rotary round brush 10 washing and cleaning operation on warship body.
Above-mentioned band chain sling combined data line seat belt 11 is by band chain sling combined data line seat belt 11
Connection deck, piece suspension type metal chain sling one end magnetic fixing lifting combination type manipulation instrument 3, the other end connects manipulation robot
On chest disc rotary round brush 10.
Above-mentioned band chain sling combined data line seat belt 11 is by another in band chain sling combined data line seat belt 11
Piece connection deck, a data cable one end magnetic fixing lifting combination type manipulation instrument 3 being wrapped in insulation tube, the other end connects machine
The robot band video camera head 5 of connection, apery type on device people's chest disc rotary round brush 10 and chest disc rotary round brush 10
Left hand suction tray 6, apery type right hand suction tray 7, the left sufficient suction tray 13 of apery type and the right sufficient suction tray 9 of apery type.
Above-mentioned deck magnetic fixing lifting combination type manipulation instrument 3 is by bag in band chain sling combined data line seat belt 11
Wrap up in the data cable of insulation tube to the machine connected on robot chest disc rotary round brush 10 and chest disc rotary round brush 10
Device people carries video camera head 5, apery type left hand suction tray 6, apery type right hand suction tray 7, the left sufficient suction tray 13 of apery type and imitates
The power supply of human-like right sufficient suction tray 9.
Above-mentioned deck magnetic fixing lifting combination type manipulation instrument 3 is by bag in band chain sling combined data line seat belt 11
Wrap up in the data cable of insulation tube to the machine connected on robot chest disc rotary round brush 10 and chest disc rotary round brush 10
Device people carries video camera head 5, apery type left hand suction tray 6, apery type right hand suction tray 7, the left sufficient suction tray 13 of apery type and imitates
Human-like right sufficient suction tray 9 transmits signal instruction and manipulates above-mentioned robot chest disc rotary round brush 10 and the robot connected thereof
Band video camera head 5, apery type left hand suction tray 6, apery type right hand suction tray 7, the left sufficient suction tray 13 of apery type and apery type
Right sufficient suction tray 9 common operational.
The cleanout fluid prepared is inserted in cleanout fluid device 4 by the above-mentioned pump machine on cleanout fluid device 4, and by deck magnetic
Inhale fixing lifting combination type manipulation instrument 3 and manipulate flexible pipe 12 note that cleanout fluid warp is shared with clean water device 8 by cleanout fluid device 4
Enter robot chest disc rotary round brush 10 for its washing and cleaning operation.
One end water inlet of above-mentioned clean water device 8 stretches into the sea water tank in naval vessels by a pumping extinguishing pipe, another
End manipulates clean water device 8 by deck magnetic fixing lifting combination type manipulation instrument 3 and through other end flexible pipe 12, sea water is injected machine
People's chest disc rotary round brush 10 is for its washing and cleaning operation.
The above, be only presently preferred embodiments of the present invention, is not the restriction that the present invention makees other form, appoints
What those skilled in the art changed possibly also with the technology contents of the disclosure above or be modified as equivalent variations etc.
Effect embodiment.But every without departing from technical solution of the present invention content, the technical spirit of the foundation present invention is to above example institute
Any simple modification, equivalent variations and the remodeling made, still falls within the protection domain of technical solution of the present invention.
Claims (9)
1. the suspension type warship body cleaning robot that a teenager defence education is special, it is characterised in that: include that naval vessels deck is put down
Platform (1), trigger (2), deck magnetic fixing lifting combination type manipulation instrument (3), cleanout fluid device (4), robot band video camera
Head (5), apery type left hand suction tray (6), apery type right hand suction tray (7), clean water device (8), the right sufficient suction tray of apery type
(9), robot chest disc rotary round brush (10), band chain sling combined data line seat belt (11), flexible pipe (12), an apery type left side
Foot suction tray (13), the warship string limit of described naval vessels deck platform (1) is provided with the fixing lifting of the fixing deck magnetic of Magnet suction
Combination type manipulation instrument (3), described deck magnetic fixing lifting combination type manipulation instrument (3) are to connect trigger (2) and by starting
Device (2) starts deck magnetic fixing lifting combination type manipulation instrument (3), described deck magnetic fixing lifting combination type manipulation instrument
(3) lower-left end connects machine near the warship string limit of naval vessels deck platform (1) by band chain sling combined data line seat belt (11)
Device people's chest disc rotary round brush (10), the upper end of described band chain sling combined data line seat belt (11) is connected to deck magnetic
Inhaling the lower end of fixing lifting combination type manipulation instrument (3), the lower end of described band chain sling combined data line seat belt (11) connects
In the upper end of robot chest disc rotary round brush (10), the right side of described deck magnetic fixing lifting combination type manipulation instrument (3)
Connect near the warship string limit of naval vessels deck platform (1) and have clean water device (8) and cleanout fluid device (4), described clean water device (8)
It is connected on deck magnetic fixing lifting combination type manipulation instrument (3) with the power supply of the suction pump of cleanout fluid device (4), deck magnetic
Inhale the lower end of fixing lifting combination type manipulation instrument (3) by a flexible pipe (12) of shared water supply feed flow and robot chest disk
Rotary rolling brush (10) connects, and the upper end installing connection of described robot chest disc rotary round brush (10) has robot band shooting
Instrument head (5), the left upper end installing connection of described robot chest disc rotary round brush (10) has apery type left hand suction tray
(6) the lower-left end installing connection of, described robot chest disc rotary round brush (10) has the left sufficient suction tray of apery type (13), institute
The upper right side installing connection of robot chest disc rotary round brush (10) stated has apery type right hand suction tray (7), described machine
The bottom righthand side installing connection of device people's chest disc rotary round brush (10) has the right sufficient suction tray of apery type (9).
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is that robot chest disc rotary round brush (10) cleaning on warship body can be made by described robot band video camera head (5)
Industry fact real time delivery of video image to deck magnetic fixing lifting combination type manipulation instrument (3) and is fixed lifting group by deck magnetic
Box-like manipulation instrument (3) manipulation robot chest disc rotary round brush (10) decides whether to continue clean or clean other scope of operation.
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is apery type left hand suction tray (6), apery type that described manipulation robot chest disc rotary round brush (10) surrounding stretches out
Right hand suction tray (7), apery type left sufficient suction tray (13) and the right sufficient suction tray of apery type (9) are to have fixing soft suction tray to fix machine
Device people's chest disc rotary round brush (10) washing and cleaning operation on warship body.
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is that described band chain sling combined data line seat belt (11) is by band chain sling combined data line seat belt (11)
Connection deck, piece suspension type metal chain sling one end magnetic fixing lifting combination type manipulation instrument (3), the other end connects manipulation machine
On people's chest disc rotary round brush (10).
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is that described band chain sling combined data line seat belt (11) is by another in band chain sling combined data line seat belt (11)
Piece connection deck, a data cable one end magnetic fixing lifting combination type manipulation instrument (3) being wrapped in insulation tube, the other end connects
Robot chest disc rotary round brush (10) and the upper robot band video camera head connected of chest disc rotary round brush (10)
(5), apery type left hand suction tray (6), apery type right hand suction tray (7), the left sufficient suction tray of apery type (13) and the right foot of apery type
Suction tray (9).
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is that described deck magnetic fixing lifting combination type manipulation instrument (3) is by bag in band chain sling combined data line seat belt (11)
The data cable wrapping up in insulation tube connects to robot chest disc rotary round brush (10) and chest disc rotary round brush (10) are upper
Robot band video camera head (5), apery type left hand suction tray (6), the left foot of apery type right hand suction tray (7), apery type inhale
Attached dish (13) and the right sufficient suction tray of apery type (9) are powered.
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is that described deck magnetic fixing lifting combination type manipulation instrument (3) is by bag in band chain sling combined data line seat belt (11)
The data cable wrapping up in insulation tube connects to robot chest disc rotary round brush (10) and chest disc rotary round brush (10) are upper
Robot band video camera head (5), apery type left hand suction tray (6), the left foot of apery type right hand suction tray (7), apery type inhale
Attached dish (13) and the right sufficient suction tray of apery type (9) transmit signal instruction and manipulate above-mentioned robot chest disc rotary round brush (10)
And robot band video camera head (5) of connection, apery type left hand suction tray (6), apery type right hand suction tray (7), apery
The left sufficient suction tray of type (13) and apery type right sufficient suction tray (9) common operational.
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
The cleanout fluid prepared is inserted in cleanout fluid device (4) by the pump machine being on described cleanout fluid device (4), and by deck magnetic
Inhale fixing lifting combination type manipulation instrument (3) manipulation cleanout fluid device (4) by cleanout fluid through and share one of clean water device (8) soft
Pipe (12) injects robot chest disc rotary round brush (10) for its washing and cleaning operation.
The suspension type warship body cleaning robot that a kind of teenager defence education the most according to claim 1 is special, its feature
It is the sea water tank that one end water inlet of described clean water device (8) stretches in naval vessels by a pumping extinguishing pipe, the other end
By deck magnetic fixing lifting combination type manipulation instrument (3) manipulation clean water device (8), sea water is injected through other end flexible pipe (12)
Robot chest disc rotary round brush (10) is for its washing and cleaning operation.
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| CN201510248310.XA CN104827477B (en) | 2015-05-16 | 2015-05-16 | The suspension type warship body cleaning robot that a kind of teenager defence education is special |
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| CN104827477B true CN104827477B (en) | 2016-10-05 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2566310B3 (en) * | 1984-06-25 | 1986-08-29 | Etude Rech Produits Sepro | GRIPPING ACCESSORIES FOR MANIPULATORS AND ROBOTS |
| JP3197940B2 (en) * | 1992-05-21 | 2001-08-13 | 株式会社小松製作所 | Work suction controller |
| CN2406781Y (en) * | 2000-01-27 | 2000-11-22 | 北京航空航天大学 | Cleaning robot |
| CN1554518A (en) * | 2003-12-23 | 2004-12-15 | 北京航空航天大学 | Control system of self climbing cleaning robot |
| CN101293541B (en) * | 2008-03-31 | 2010-04-21 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN101486186B (en) * | 2009-02-16 | 2010-08-18 | 浙江大学 | Single-piston cylinder smooth wall surface creeping apparatus driven by fluid |
| CN102922527A (en) * | 2012-11-01 | 2013-02-13 | 江苏大学 | Robot for sweeping top of greenhouse |
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