CN107253147A - Ship Rust Removal Robot of Sand Blast work system - Google Patents
Ship Rust Removal Robot of Sand Blast work system Download PDFInfo
- Publication number
- CN107253147A CN107253147A CN201710461062.6A CN201710461062A CN107253147A CN 107253147 A CN107253147 A CN 107253147A CN 201710461062 A CN201710461062 A CN 201710461062A CN 107253147 A CN107253147 A CN 107253147A
- Authority
- CN
- China
- Prior art keywords
- sandblasting
- robot
- climbing robot
- ship
- output device
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- 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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
Abstract
The invention discloses a kind of ship Rust Removal Robot of Sand Blast work system, terminal and disengaging sensing device is set to constitute by climbing robot, catching device, control unit, sandblasting output device, abrasive blast equipment main frame, display；Abrasive blast equipment main frame and the connection of sandblasting output device, the derusting work for ship outer surface；Control unit is used for advance, retrogressing, turning and the abrasive blast equipment main frame start-up and shut-down control of climbing robot；Catching device connects climbing robot by flexible protective rope；Display sets terminal to be used for status display, fault alarm and the parameter setting of work at present system；Departing from sensing device is used to detect climbing robot and ship outer surface distance, when apart from more than threshold value then closing abrasive blast equipment main frame.The present invention has the advantages that compact conformation, strong antijamming capability, is easy to safeguard, using flexible, can solve the integrated application problem of the high-power derusting by sandblasting process equipment of marine surface application environment, realizes that vessel coating works efficient, purifying.
Description
Technical field
The present invention relates to robot technology, particularly a kind of ship Rust Removal Robot of Sand Blast work system.
Background technology
In boat segmental outer surface etc. on a large scale open magnetic conductivity working face, because working range is generally larger, entering
Need to build scaffold temporarily during row derusting operation, workmen seeks connections with onto scaffold again carries out derusting operation.This derusting
Mode automaticity is low, and environmental is high, and safety coefficient is low, and serious danger can be caused to the healthy of workmen
Evil.
The content of the invention
It is an object of the invention to provide a kind of ship Rust Removal Robot of Sand Blast work system.
The technical scheme for realizing the object of the invention is：A kind of ship Rust Removal Robot of Sand Blast work system, work system master
Terminal is set and departed from by climbing robot, catching device, control unit, sandblasting output device, abrasive blast equipment main frame, display and passed
Induction device is constituted；
The climbing robot is used to be advanced, retreated and be turned in ship outer surface；
Abrasive blast equipment main frame and sandblasting the output device connection, the derusting work for ship outer surface；
Described control unit is used for advance, retrogressing, turning and the abrasive blast equipment main frame start-up and shut-down control of climbing robot；
The catching device connects climbing robot by flexible protective rope；
The display sets terminal to be used for status display, fault alarm and the parameter setting of work at present system；
The disengaging sensing device is used to detect climbing robot and ship outer surface distance, when distance is then closed more than threshold value
Close abrasive blast equipment main frame.
Compared with prior art, its remarkable advantage is the present invention：
(1) the invention provides a kind of ship Rust Removal Robot of Sand Blast work system, solve ship derusting operation and use
It is artificial and the problem of need to build more auxiliary equipment, increase rust cleaning efficiency, reduce harm of the dust to workmen, reduction is removed
Rust cost；(2) present invention employs the mode that sandblasting output device is separated with main frame, the negative of climbing robot is effectively reduced
Weight, adds the adaptability of climbing robot；(3) present invention by the way of Remote to climbing robot and process equipment
It is controlled, all controls can be carried out on a remote control, operation more facilitates；(4) sandblasting output device of the invention is installed
At climbing robot back, containing self-reacting device, can adaptive rough outer surface, add the environment of derusting operation
Adaptability.
Brief description of the drawings
Fig. 1 is ship Rust Removal Robot of Sand Blast work system structure chart of the invention.
Fig. 2 schemes for the system composition of the present invention.
Fig. 3 is sandblasting output device scheme of installation.
Fig. 4 is self-adaptive regulating schematic diagram.
Fig. 5 meets convex surface self-adaptive regulating operating diagram for the climbing robot operation of the present invention.
Fig. 6 is adjustment structure regulation schematic diagram above and below the climbing robot Different Plane derusting operation of the present invention.
Fig. 7 is climbing robot operation direct of travel schematic diagram of the invention.
Embodiment
With reference to Fig. 1, Fig. 2, a kind of ship Rust Removal Robot of Sand Blast work system, work system mainly by climbing robot 2,
Catching device 7, control unit 3, sandblasting output device 5, abrasive blast equipment main frame 4, display set terminal 8 and depart from 14 groups of sensing device
Into；
The climbing robot 2 is used to be advanced, retreated and be turned in ship outer surface 1；
The abrasive blast equipment main frame 4 and sandblasting output device 5 are connected, the derusting work for ship outer surface 1；
Described control unit 3 is used for advance, retrogressing, turning and the start-up and shut-down control of abrasive blast equipment main frame 4 of climbing robot 2；
The catching device 7 connects climbing robot by flexible protective rope；
The display sets terminal 8 to be used for status display, fault alarm and the parameter setting of work at present system；
The disengaging sensing device 14 is used to detect climbing robot 2 and the distance of ship outer surface 1, when distance exceedes threshold value
Then close abrasive blast equipment main frame 4.
Further, climbing robot 2 is moved by way of permanent magnetic suck in ship outer surface 1.
Further, the sandblasting output device 5 is separated with abrasive blast equipment main frame 4, and sandblasting output device 5, which is arranged at, climbs wall
The back of robot 2, by controlling gas circuit, sand grains output pipe and the grains of sand between abrasive blast equipment main frame 4 and sandblasting output device 5
Recovery pipe 6 is connected.
Further, as shown in figure 3, sandblasting output device 5 passes through adjustable structure 10 and self-adaptive regulating 9 up and down
It is arranged on the back of climbing robot 2；As shown in Figure 4, Figure 5, adjustable structure 10 is used to carry out sandblasting output device 5 up and down
Adjusted above and below position；Self-adaptive regulating 9 includes adjustable spring 13, anti-tampering damper 11 and fixed support 12, fixed
Support 12 be arranged on above and below on adjustable structure 10, the top of adjustable spring 13 is contacted with fixed support 12, bottom by baffle plate with
Sandblasting output device 5 is connected, and the baffle plate is connected by limited block upper and lower displacement, anti-tampering damper 11 with adjustable spring 13；
If convex surface occurs in rust part surface, sandblasting output device is contacted with convex surface, and compressing sandblasting output device power exceeds anti-tampering damper
During rated value, adjustable spring 13 is compressed, the rise of sandblasting output device.
Further, as shown in fig. 6, the adjustable structure 10 up and down includes fixed mechanism, regulating bolt and installs abdomen
Plate, fixed mechanism is used to fix sandblasting output device, installs web and is fixed to climbing robot back, regulating bolt is used to adjust
Fixed mechanism and the relative position for installing web.
Further, system also includes wireless remote-control system, action and abrasive blast equipment master for controlling climbing robot 2
The start and stop of machine 4, the signal receiving end of wireless remote-control system is integrated into control unit 3.
Further, the display sets terminal to provide the maximum speed of travel of climbing robot, the minimum speed of travel, sandblasting
The setting of technological parameter, display working time, working hours meter, current operating state are shown and fault alarm.
Further, sensing device 14 is departed from ship Rust Removal Robot of Sand Blast work system normal operation with being derusted
The surface distance of part 1 is 0mm~20mm, if be more than 20mm from sensing device 14 and the surface distance of de-rusted part 1, be considered as and climb wall machine
Device people 2 is likely to occur rollover and come off state, and the control abrasive blast equipment of control unit 3 is stopped.
Further, catching device 7 is fixed to marine surface by magnetic-adsorption, when robot body lapse rate exceedes
During 2m/s, the auto lock of catching device 7.
The present invention is described in detail with reference to specific embodiments and the drawings.
Embodiment
With reference to Fig. 1, Fig. 2, a kind of ship Rust Removal Robot of Sand Blast work system, including climbing robot 2, sandblasting output dress
Put 5, abrasive blast equipment main frame 4, control unit 3, catching device 7, display setting terminal 8 and depart from sensing device 14.
Control unit 3：The control unit 3 of the system merged climbing robot motion control, blasting craft parameter setting,
Abrasive blast equipment main frame grains of sand conveying control, Wireless remote control.
Climbing robot 2：Based on actual use demand, the motor of walking mechanism is connected to logical by driver
Interrogate in bus, motion controller realizes the control to driver by communication bus.Permanent magnetism is embedded in the driving wheel of walking mechanism
Iron, enables climbing robot to be adsorbed in ship outer surface.To make climbing robot that there is larger driving moment, motor output
Axle connects suitable reductor.
Sandblasting output device 5 and abrasive blast equipment main frame 4：Abrasive blast equipment main frame is separated with sandblasting output device, abrasive blast equipment
Main frame provides the grains of sand for sandblasting output device by grains of sand transfer pipeline, reclaimed by grains of sand recovery pipe from sandblasting output device
The grains of sand.Sandblasting output device is equipped on climbing robot back, and whether the grains of sand convey is controlled by electromagnetic valve of gas circuit, sandblasting
The technological parameter of output device sets terminal profile by showing.
Catching device 7：Based on actual use demand, ship outer surface is adsorbed in by magnetic field pulse hoist, bottom mounting is anti-fall
Device, the protective rope of catching device is connected to wall-climbing device human body.Wherein magnetic field pulse hoist is to be adsorbed onto ship by magnetic suck effect
Magnetic field pulse hoist departs from marine surface when oceangoing ship surface and dismounting convenient equipped with rocking bar.
Display sets terminal 8：Comprising display set terminal for user technique customize provide easily mode.
Can be by setting the parameters such as the speed of travel, turning speed, sandblasting speed manually；For standardized product, then can prestore supplemental characteristic,
Facilitate called when using next time.
Depart from sensing device 14 be in ship Rust Removal Robot of Sand Blast work system normal operation depart from sensing device with
De-rusted part surface distance is 0mm~20mm, if from sensing device and during de-rusted part surface distance ＞ 20mm, being considered as and climbing wall machine
Device people is likely to occur rollover and the state such as come off, and abrasive blast equipment is stopped immediately prevents equipment from occurring unexpected.
With reference to Fig. 5, it can be made in ship Rust Removal Robot of Sand Blast work system containing self-adaptive regulating 9 according to different
Industry environment carries out self-control, it is ensured that be close to de-rusted part in sandblasting end.Self-adaptive regulating mainly includes adjustable spring 13, prevented
Damper 11 and fixed support 12 are disturbed, when climbing robot completes the derusting operation of direct of travel, if rust part surface goes out
Now uneven convex surface occur, sandblasting output device is contacted with convex surface, and compressing sandblasting output device power exceeds anti-tampering damper
During rated value, adjustable spring is compressed, the rise of sandblasting output device, to realize that the output of adjustment sandblasting in real time is filled in sandblasting work
The position put is to improve the reliability of technique.
With reference to Fig. 6, the upper-lower position on device 10 of sandblasting output device includes fixed mechanism, regulating bolt and installation web etc.
Composition, fixed mechanism fixes sandblasting output device, installs web and is fixed to climbing robot back, regulating bolt can adjust solid
Determine mechanism and the relative position of web is installed.When surface of derusting changes, sandblasting can be exported according to different sandblasting requirements
Device is adjusted above and below carrying out, and different operating environments are adapted to realize.
With reference to Fig. 7, when climbing robot 2 carries out spray painting operation on direct of travel, drive wheel group is in working front edge, ten thousand
Rear end is in wheel.
The course of work of ship Rust Removal Robot of Sand Blast work system is：
Step 1, catching device is adsorbed in ship outer surface by magnetic field pulse hoist, wherein magnetic field pulse hoist is by magnetic
Magnetic field pulse hoist departs from marine surface when attached effect is adsorbed onto marine surface and dismounting convenient equipped with rocking bar.The protective rope of catching device
It is connected to the body of climbing robot.
Step 2, climbing robot is positioned over ship outer surface or other a wide range of open magnetic conductivity working faces.
Step 3, controlling cable, connection grains of sand output pipe and grains of sand recovery pipe are connected, starts climbing robot, is started
Abrasive blast equipment main frame, starts display and sets terminal.
Step 4, terminal-pair climbing robot kinematic parameter, blasting craft parameter is set to be set by showing.
Step 5, the enable of climbing robot is carried out by wireless remote-control system, the movement instruction of robot is issued.
Step 6, sandblasting job instruction is opened by wireless remote-control system, climbing robot is removed according to remote control path
Rust operation.
Step 7, complete after a certain derusting process, the position of climbing robot is adjusted by wireless remote-control system, under
One of painting process.
Step 8, after all derusting processes, which are performed, to be terminated, sandblasting transfer solenoid valve is closed and by robotically-driven to waiting to unload
Except area.
In summary, ship Rust Removal Robot of Sand Blast work system of the invention uses Remote, sandblasting output device
Separated with abrasive blast equipment main frame, the mode such as permanent magnetic suck realizes the derusting by sandblasting operation of climbing robot, solves complex working condition
The problems such as integrated application of lower climbing robot and high-power derusting process equipment, realize painting work automation, it is efficient,
It is purifying.
Claims (9)
1. a kind of ship Rust Removal Robot of Sand Blast work system, it is characterised in that work system mainly by climbing robot (2),
Catching device (7), control unit (3), sandblasting output device (5), abrasive blast equipment main frame (4), display set terminal (8) and departed from and pass
Induction device (14) is constituted；
The climbing robot (2) is used to be advanced, retreated and be turned in ship outer surface (1)；
The abrasive blast equipment main frame (4) and sandblasting output device (5) connection, the derusting work for ship outer surface (1)；
Described control unit (3) is used for advance, retrogressing, turning and abrasive blast equipment main frame (4) start and stop control of climbing robot (2)
System；
The catching device (7) connects climbing robot (2) by flexible protective rope；
The display sets terminal (8) to be used for status display, fault alarm and the parameter setting of work at present system；
The disengaging sensing device (14) is used to detect climbing robot (2) and ship outer surface (1) distance, when distance exceedes threshold
Value then closes abrasive blast equipment main frame (4).
2. ship Rust Removal Robot of Sand Blast work system according to claim 1, it is characterised in that climbing robot (2)
Moved by way of permanent magnetic suck in ship outer surface (1).
3. ship Rust Removal Robot of Sand Blast work system according to claim 1, it is characterised in that the sandblasting output dress
Put (5) to separate with abrasive blast equipment main frame (4), sandblasting output device (5) is arranged at the back of climbing robot (2), abrasive blast equipment
By controlling gas circuit, sand grains output pipe and grains of sand recovery pipe (6) to be connected between main frame (4) and sandblasting output device (5).
4. ship Rust Removal Robot of Sand Blast work system according to claim 3, it is characterised in that sandblasting output device
(5) back of climbing robot (2) is arranged on by adjustable structure (10) and self-adaptive regulating (9) up and down；Up and down may be used
Adjustment structure (10) is used to sandblasting output device (5) is carried out to adjust above and below position；Self-adaptive regulating (9) includes flexible bullet
Spring (13), anti-tampering damper (11) and fixed support (12), fixed support (12) be arranged on above and below adjustable structure (10)
On, adjustable spring (13) top is contacted with fixed support (12), and bottom is connected by baffle plate with sandblasting output device (5), described
Baffle plate is connected by limited block upper and lower displacement, anti-tampering damper (11) with adjustable spring (13)；If there is convex surface in rust part surface,
Sandblasting output device (5) is contacted with convex surface, when compressing sandblasting output device power exceeds anti-tampering damper (11) rated value, is stretched
Spring (13) is compressed, sandblasting output device (5) rise.
5. ship Rust Removal Robot of Sand Blast work system according to claim 4, it is characterised in that described adjustable up and down
Structure (10) includes fixed mechanism, regulating bolt and installs web, and fixed mechanism is used to fix sandblasting output device, installs web
Fixed to climbing robot back, regulating bolt is used to adjust fixed mechanism and installs the relative position of web.
6. ship Rust Removal Robot of Sand Blast work system according to claim 1, it is characterised in that system also includes wireless
Remote control system, for controlling the action of climbing robot (2) and the start and stop of abrasive blast equipment main frame (4), the letter of wireless remote-control system
Number receiving terminal is integrated into control unit (3).
7. ship Rust Removal Robot of Sand Blast work system according to claim 1, it is characterised in that the display is set eventually
The maximum speed of travel of end (8) offer climbing robot, the minimum speed of travel, the setting of blasting craft parameter, the display working time,
Working hours meter, current operating state are shown and fault alarm.
8. ship Rust Removal Robot of Sand Blast work system according to claim 1, it is characterised in that in ship derusting by sandblasting
It is 0mm~20mm to depart from sensing device (14) during robot work system normal operation with de-rusted part (1) surface distance, if from
When sensing device (14) and de-rusted part (1) surface distance are more than 20mm, it is considered as climbing robot (2) and rollover occurs and come off shape
State, control unit (3) control abrasive blast equipment is stopped.
9. ship Rust Removal Robot of Sand Blast work system according to claim 1, it is characterised in that catching device (7) passes through
Magnetic-adsorption is fixed to marine surface, when robot body lapse rate is more than 2m/s, catching device (7) auto lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710461062.6A CN107253147A (en) | 2017-06-18 | 2017-06-18 | Ship Rust Removal Robot of Sand Blast work system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710461062.6A CN107253147A (en) | 2017-06-18 | 2017-06-18 | Ship Rust Removal Robot of Sand Blast work system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107253147A true CN107253147A (en) | 2017-10-17 |
Family
ID=60024045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710461062.6A Pending CN107253147A (en) | 2017-06-18 | 2017-06-18 | Ship Rust Removal Robot of Sand Blast work system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107253147A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216411A (en) * | 2017-12-27 | 2018-06-29 | 武汉金顿激光科技有限公司 | The pretreating process of climbing robot and ship steel surface |
| CN108357580A (en) * | 2017-12-29 | 2018-08-03 | 昆山特酷信息科技有限公司 | A kind of rescue climbing robot control system and method |
| CN108655135A (en) * | 2018-07-02 | 2018-10-16 | 洛阳圣瑞智能机器人有限公司 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
| CN110182332A (en) * | 2019-05-17 | 2019-08-30 | 清华大学 | Combined-type climbs wall type ship Intelligent Laser rust removalling equipment |
| CN111438637A (en) * | 2020-04-03 | 2020-07-24 | 上海江南长兴造船有限责任公司 | Automatic rust removing method for large splicing seam of hull plate |
| FR3101803A1 (en) | 2019-10-15 | 2021-04-16 | Ambpr | Robot for the renovation by stripping and / or paint coating, and / or the inspection of a wall of large area and / or high height, Associated operating process and application to the stripping and painting of ship hulls. |
| CN113146479A (en) * | 2021-04-28 | 2021-07-23 | 广船国际有限公司 | Shot blasting and sand blasting device and construction method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216411A (en) * | 2017-12-27 | 2018-06-29 | 武汉金顿激光科技有限公司 | The pretreating process of climbing robot and ship steel surface |
| CN108357580A (en) * | 2017-12-29 | 2018-08-03 | 昆山特酷信息科技有限公司 | A kind of rescue climbing robot control system and method |
| CN108655135A (en) * | 2018-07-02 | 2018-10-16 | 洛阳圣瑞智能机器人有限公司 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
| CN109278891A (en) * | 2018-12-06 | 2019-01-29 | 河北工业大学 | A kind of passive adaptive mechanism of magnetic adsorption wall climbing robot |
| CN110182332A (en) * | 2019-05-17 | 2019-08-30 | 清华大学 | Combined-type climbs wall type ship Intelligent Laser rust removalling equipment |
| FR3101803A1 (en) | 2019-10-15 | 2021-04-16 | Ambpr | Robot for the renovation by stripping and / or paint coating, and / or the inspection of a wall of large area and / or high height, Associated operating process and application to the stripping and painting of ship hulls. |
| CN111438637A (en) * | 2020-04-03 | 2020-07-24 | 上海江南长兴造船有限责任公司 | Automatic rust removing method for large splicing seam of hull plate |
| CN113146479A (en) * | 2021-04-28 | 2021-07-23 | 广船国际有限公司 | Shot blasting and sand blasting device and construction method |
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Application publication date: 20171017 |
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