CN106428275B - A kind of ship's machinery people - Google Patents
A kind of ship's machinery people Download PDFInfo
- Publication number
- CN106428275B CN106428275B CN201610377663.4A CN201610377663A CN106428275B CN 106428275 B CN106428275 B CN 106428275B CN 201610377663 A CN201610377663 A CN 201610377663A CN 106428275 B CN106428275 B CN 106428275B
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- permanent magnetic
- ship
- car body
- magnetic chuck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of ship's machinery people, belong to Industrial Robot Technology field.The robot, including：Car body, four walking mechanisms；Car body both sides are hinged with mounting bracket；Hinged two walking mechanisms in each mounting bracket；Walking mechanism includes interior crawler belt group, outer crawler belt group, driving motor and steering motor；Inside and outside crawler belt group includes forming crawler belt, positioned at the driver plate at space both ends in crawler belt and several cylinders between driver plate by several permanent magnetic chucks for being connected into annular；Driver plate is used to stir the selector bar of the permanent magnetic chuck positioned at crawler belt both ends；Cylinder is located at the selector bar of the permanent magnetic chuck among crawler belt for promotion.Ship's machinery people provided by the invention, can effectively reduce advance resistance；Walking mechanism can carry out three axis rotations, wherein it is active rotation to turn to, in addition two axis are passive, to adapt to the change in shape of hull.During steering, four walking mechanisms are discharged and are turned in turn, are turned to compared to conventional belt magnetic, hence it is evident that more easy and accurate.
Description
Technical field
The present invention relates to a kind of ship's machinery people, belong to Industrial Robot Technology field.
Background technology
The work such as hull cleaning at present, spray painting, leak detection are via manual operation to industrial robot operational transition.It is but existing
Robot in technology has many defects：First, structure is relatively simple, it is impossible to adapt to various complex situations, easily there are blind areas
And dead angle, work quality and efficiency cannot be not only promoted, work quality and working efficiency can be reduced instead；2nd, walking mechanism is more
For double caterpillar belt structures, turn to difficult；3rd, magnetic track is unable to sticking and the unloading of adaptability so that walking and steering are required for
Larger strength；The variation of hull surface shape is not considered when the 4th, designing.
Invention content
The technical problems to be solved by the invention are to overcome the disadvantages mentioned above of the prior art, are provided a kind of suitable for hull
Robot.
In order to solve the above technical problems, technical solution proposed by the present invention is：A kind of ship's machinery people, including：Car body,
Four walking mechanisms；The car body both sides are hinged with mounting bracket；Hinged two vehicle with walking machine in each mounting bracket
Structure；The walking mechanism includes interior crawler belt group, outer crawler belt group, driving motor and steering motor；The inside and outside crawler belt group include by
It is connected into several permanent magnetic chucks composition crawler belt of annular, positioned at the driver plate at space both ends in the crawler belt and between the driver plate
Several cylinders；The driver plate is used to stir the selector bar of the permanent magnetic chuck of its corresponding position；The cylinder is used to push away
The selector bar of the permanent magnetic chuck of its corresponding position is moved, when the cylinder is in stretching, the cylinder corresponding position can be pushed
The selector bar of the permanent magnetic chuck makes permanent magnetic chuck magnetism sticking；When the cylinder is shunk, the selector bar of the permanent magnetic chuck
It can move freely；The inside and outside crawler belt group is symmetrically installed on inside and outside the walking mechanism；The driving motor is used
It advances in driving the crawler belt；The steering motor drives the walking mechanism to advance.
Said program, which further improves, to be：Buffer is housed between the car body and the mounting bracket；The car body
First encoder is housed at the hinge shaft between the mounting bracket.
Said program, which further improves, to be：Control cabinet is installed on the car body.
Said program, which further improves, to be：The output terminal of the steering motor is equipped with third encoder.
Said program, which further improves, to be：There is the control cabinet for controlling the walking mechanism on the car body.
Ship's machinery people provided by the invention, using four tread systems designs, crawler belt is made of permanent magnetic chuck, when walking
The permanent magnetic chuck being attached on hull pushes down selector bar by cylinder and carries out sticking, stirs selector bar by driver plate when being detached from hull and is released
It puts, can effectively reduce advance resistance in this way；Meanwhile the crawler belt of inside and outside double-layer mirror image setting is come when ensuring to move forward and backward, into
There is a crawler belt sticking.Walking mechanism can carry out three axis rotations, wherein it is active rotation to turn to, in addition two axis are passive,
To adapt to the change in shape of hull.During steering, four walking mechanisms are discharged and are turned in turn, are turned to compared to conventional belt magnetic,
It is clearly more easily and accurate.
Description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structure diagram of a preferred embodiment of the invention.
Fig. 2 is the walking mechanism structure diagram in Fig. 1.
Fig. 3 is the outer side view of Fig. 2.
Fig. 4 is the inner side view of Fig. 2.
Figure label is schematically as follows：1- car bodies, 2- walking mechanisms, 3- mounting brackets, 3a- hydraulic bjuffers, 3b- first are compiled
Code device；4- control cabinets, 5- second encoders, 6- hinge shafts, 7- steering motors, 8- driving motors, the outer crawler belts of 9-, crawler belt in 10-；
11- driver plates, 12- cylinders, 13- selector bars.
Specific embodiment
Embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described.
As shown in Figures 1 to 4, ship's machinery people provided in this embodiment, including：1, four walking mechanism 2 of car body；Car body
1 both sides are hinged with mounting bracket 3；Hinged two walking mechanisms 2 in each mounting bracket 3.
Wherein as shown in fig. 2 to 4, walking mechanism 2 includes interior crawler belt group, outer crawler belt group, driving motor 8 and steering motor 7；
Inside and outside crawler belt group include by be connected into annular several permanent magnetic chucks form crawler belt, in crawler belt space both ends 11 and of driver plate
Several cylinders 12 between driver plate 11；Driver plate 11 is used to stir the selector bar 13 of the permanent magnetic chuck of its corresponding position；Cylinder
12 are used to push the selector bar 13 of the permanent magnetic chuck of its corresponding position；Driving motor 8 is used to that crawler belt to be driven to advance；Steering motor 7
Driving walking mechanism 2 turns to.
As shown in Figure 3 and Figure 4, inside and outside crawler belt group is symmetrically installed on inside and outside walking mechanism 2；Outer crawler belt 9 with it is interior
Crawler belt 10 synchronizes operating.Angle as shown in Figure 3, it is assumed that outer crawler belt 9 is to rotate counterclockwise at this time, and car body 1 moves ahead to the left, then,
Angle as shown in Figure 4 at this time, interior crawler belt 10 are to rotate clockwise in figure, and the direction of advance of car body 1 is the right side of Fig. 4.
Such as Fig. 3, cylinder 12 is divided to two rows up and down altogether, and downlink is used to adjust lower section permanent magnetic chuck, and uplink is used to adjust
Top permanent magnetic chuck, still, practical top permanent magnetic chuck are not contacted with hull, so uplink cylinder is intended merely in adjustment
The direction of the selector bar 13 of square permanent magnetic chuck prevents its displacement excessively violent, and then cannot smoothly enter group in the left side in Fig. 3
Disk；A cylinder of left side driver plate in Fig. 3 is located next in the cylinder of downlink, according to the forward speed of outer crawler belt 9 with corresponding frequency
Rate stretch out, shrinking up and down reciprocatingly, in this way, the selector bar 13 when permanent magnetic chuck is moved from the left side driver plate in Fig. 3
Later, magnetic force most strong position is depressed by the cylinder at once, continues to move then as outer crawler belt 9, the remaining cylinders one of downlink
Directly in stretching state, so the permanent magnetic chuck being disposed below is in sticking state；As outer crawler belt 9 continues to move, forever
Magnetic-disc 13 is detached from the compacting range of lower section rightmost side cylinder, and into the range of stirring of right side driver plate, selector bar 13 is struck, from
Open the most strong position of magnetic force so that permanent magnetic chuck enters release conditions.Same principle, uplink cylinder as downlink cylinder,
But corresponding is that the corresponding permanent magnetic chuck of uplink cylinder is to move from right to left, therefore, the cylinder of the rightmost side is toward double action
Make.
Same principle, corresponding diagram 4, interior crawler belt 10 also carries out the action as outer crawler belt 9, still, because symmetrically
Design, the selector bar 13 of the permanent magnetic chuck of interior crawler belt 10 are crushed on another side, and therefore, permanent magnetic chuck is no holding force.
When the operating for carrying out negative direction, that is, it is shown in Fig. 3, outer crawler belt 9 is clockwise, such as Fig. 4, interior 10 inverse time of crawler belt
Needle rotates, in this way, the permanent magnetic chuck sticking of the lower section of interior crawler belt 10, outer crawler belt 9 is then completely in release conditions.
In this way, robot is ensure that when moving forward and backward, it can effective sticking.Moreover, when crawler belt rotates, it will
The permanent magnetic chuck of hull surface is detached under the action of driver plate 11, discharges magnetic force.The permanent magnetic chuck that hull surface will be contacted exists
Under the action of cylinder 12, restore magnetic force again, carry out sticking.
When robot needs to turn to, four walking mechanisms 2 are turned to successively.The cylinder of first walking mechanism is whole
Shrink, in this way, the selector bar 13 of permanent magnetic chuck can free movement, inside it under magneticaction, be detached from magnetic most strong position, so
Rear walking mechanism 2 turns to, and after the completion of steering, cylinder all stretches out, and the selector bar of permanent magnetic chuck 13 is depressed into sticking position again
It puts, obtains holding force again, then, second walking mechanism equally acts, and third and fourth walking mechanism carries out successively, such as
This completes go to action.
Car body 1 is used for installing and fixing external equipment, such as the equipment such as spray painting, derusting, leak detection.Walking mechanism 2 can be with three
Axis deflects, wherein turning to actively to deflect, in addition two axis are passive deflection, to adapt to the shape of hull surface.Car body 1 and peace
Hydraulic bjuffer 3a is housed between dress stent 3；Prevent deflection angle excessive.First is equipped at hinge shaft between car body 1 and mounting bracket 3
Encoder 3b；Second encoder 5 is housed at mounting bracket 3 and the hinge shaft 6 of walking mechanism 2；The output terminal of steering motor 7 is equipped with the
Three encoders；For use in the deflection angle for reading three axis.On car body 1 there is control walking mechanism, receive first to third volume
The control cabinet of code device signal.When turning to, third encoder may insure that four 2 rotation angles of walking mechanism are consistent.
Ship's machinery people provided in this embodiment, can be used not only for hull surface, be equally applicable to the tables such as large tank
Face works.
In addition to the implementation, the present invention can also have other embodiment.It is all to use equivalent substitution or equivalent transformation shape
Into technical solution, all fall within the present invention claims protection domain.
Claims (5)
1. a kind of ship's machinery people, which is characterized in that including：Car body, four walking mechanisms；The car body both sides are hinged with installation
Stent；Hinged two walking mechanisms in each mounting bracket；The walking mechanism includes interior crawler belt group, outer crawler belt
Group, driving motor and steering motor；The inside and outside crawler belt group includes forming crawler belt, position by several permanent magnetic chucks for being connected into annular
In the driver plate at space both ends in the crawler belt and several cylinders between the driver plate；The driver plate is used to stir its correspondence
The selector bar of the permanent magnetic chuck at position；The cylinder is used to push the selector bar of the permanent magnetic chuck of its corresponding position,
When the cylinder is in stretching, the selector bar of the permanent magnetic chuck of the cylinder corresponding position can be pushed, makes permanent magnetic chuck magnetic
Property sticking；When the cylinder is shunk, the selector bar of the permanent magnetic chuck can move freely；The inside and outside crawler belt group is symmetrical
Be installed on inside and outside the walking mechanism；The driving motor is used to that the crawler belt to be driven to advance；The steering motor
The walking mechanism is driven to advance.
2. ship's machinery people according to claim 1, it is characterised in that：Equipped with slow between the car body and the mounting bracket
Rush device；First encoder is housed at the hinge shaft between the car body and the mounting bracket.
3. ship's machinery people according to claim 1, it is characterised in that：The hinge of the mounting bracket and the walking mechanism
Second encoder is housed at axis.
4. ship's machinery people according to claim 1, it is characterised in that：The output terminal of the steering motor is compiled equipped with third
Code device.
5. ship's machinery people according to claim 1, it is characterised in that：Control cabinet is installed on the car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610377663.4A CN106428275B (en) | 2016-05-31 | 2016-05-31 | A kind of ship's machinery people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610377663.4A CN106428275B (en) | 2016-05-31 | 2016-05-31 | A kind of ship's machinery people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106428275A CN106428275A (en) | 2017-02-22 |
| CN106428275B true CN106428275B (en) | 2018-07-10 |
Family
ID=58183107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610377663.4A Active CN106428275B (en) | 2016-05-31 | 2016-05-31 | A kind of ship's machinery people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106428275B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521643B (en) * | 2017-07-21 | 2023-07-25 | 长沙矿山研究院有限责任公司 | Submarine mining vehicle chassis, submarine mining vehicle and control method thereof |
| CN108275211A (en) * | 2018-03-27 | 2018-07-13 | 安徽理工大学 | A kind of crawler type omni-directional mobile robots |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6189184A (en) * | 1984-10-05 | 1986-05-07 | Hitachi Ltd | Wall surface sticking travelling machine |
| CN201920661U (en) * | 2011-01-05 | 2011-08-10 | 泰怡凯电器(苏州)有限公司 | Travelling gear and glass cleaning robot provided therewith |
| CN202115612U (en) * | 2011-05-05 | 2012-01-18 | 北京理工大学 | Bionic wall-climbing robot based on structural form of gecko movement organism |
| CN102923205A (en) * | 2012-10-08 | 2013-02-13 | 上海工程技术大学 | Wall-climbing robot running gear used for welding tubular boiler tube wall |
| CN105172930A (en) * | 2015-10-16 | 2015-12-23 | 新疆新能钢结构有限责任公司 | Adsorbing base plate of wall-climbing robot |
| CN205930981U (en) * | 2016-05-31 | 2017-02-08 | 张敏 | Marine robot |
-
2016
- 2016-05-31 CN CN201610377663.4A patent/CN106428275B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6189184A (en) * | 1984-10-05 | 1986-05-07 | Hitachi Ltd | Wall surface sticking travelling machine |
| CN201920661U (en) * | 2011-01-05 | 2011-08-10 | 泰怡凯电器(苏州)有限公司 | Travelling gear and glass cleaning robot provided therewith |
| CN202115612U (en) * | 2011-05-05 | 2012-01-18 | 北京理工大学 | Bionic wall-climbing robot based on structural form of gecko movement organism |
| CN102923205A (en) * | 2012-10-08 | 2013-02-13 | 上海工程技术大学 | Wall-climbing robot running gear used for welding tubular boiler tube wall |
| CN105172930A (en) * | 2015-10-16 | 2015-12-23 | 新疆新能钢结构有限责任公司 | Adsorbing base plate of wall-climbing robot |
| CN205930981U (en) * | 2016-05-31 | 2017-02-08 | 张敏 | Marine robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106428275A (en) | 2017-02-22 |
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