CN107584424A - Surface derusting system for ship hull plate - Google Patents
Surface derusting system for ship hull plate Download PDFInfo
- Publication number
- CN107584424A CN107584424A CN201610532170.3A CN201610532170A CN107584424A CN 107584424 A CN107584424 A CN 107584424A CN 201610532170 A CN201610532170 A CN 201610532170A CN 107584424 A CN107584424 A CN 107584424A
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- China
- Prior art keywords
- abrasive material
- derusting
- sandblasting
- switch
- wall
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- 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
- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of surface derusting system for ship hull plate, including wall-climbing device human body, safety device, derusting by sandblasting device, air compressor machine, abrasive material induction system, negative pressure of vacuum recovery system, abrasive material separation recirculating system and switch board；Wherein, safety device is used to be arranged on ship body；Wall-climbing device human body's connecting safety device；Derusting by sandblasting device is arranged on wall-climbing device human body；The sand-feeding tube fittings abrasive material induction system of derusting by sandblasting device, sand-returning pipe fittings vacuum recovery system；The present invention is used as motion body using climbing robot, carried out based on sandblasting mode to tun, the large-sized aerial work structural members such as wall surfaces of ships, electric power station carry out derusting by sandblasting, and abrasive material, dust and rust dirt are reclaimed based on negative pressure of vacuum, separated and cycling and reutilization, greatly reduce cost, the efficiency of derusting by sandblasting is improved, operating process environmental protection and energy saving, work high above the ground accessibility are strong, basic non-environmental-pollution and unmanned health hazard.
Description
Technical field
The present invention relates to application manufacturing technology, in particular it relates to a kind of surface derusting system for ship hull plate, especially
It is the derusting system for the big splicing welding joint of hull surface.
Background technology
The painting work of body section can be carried out in workshop, but after body section welding due to it is bulky can only be in ship
Depressed place scene carries out application, needs to be surface-treated substantial amounts of welding weld seam before application, when derusting, second, reaching surface
Certain roughness.It is typically now that surface cleaning processing, but the weldering of body section general assembly are carried out using artificial sandblasting mode
Seam is very long, and sandblasting workload is big, less efficient, and labor strength is big, and condition of work is severe, and its dust and noise are good for people
Health influences very big.Dust after other manual polishing is not recycled, and is fallen directly into dock and is discharged into behind sea to environment
It will also result in serious pollution.This and current greening shipbuilding, the theory grave fault of environmentally friendly shipbuilding.
At the same time, as expanding economy, Chinese demographic dividend gradually decrease, labor cost rises, skilled worker
It is rare.In this context, propose to replace artificial derusting by sandblasting using automation derusting, advocate scientific and technological shipbuilding, right and wrong often with
There is realistic meaning.The dependence to people can be not only gradually reduced, shipbuilding efficiency and quality is improved, decreases to human body and ring
The pollution in border.
Through to prior art literature retrieval analysis, finding Chinese patent literature institute of the patent publication No. for CN201633804U
Disclosed " a kind of wall-climbing robot for removing rust on wall surfaces of ships ", the invention is derusted using ultra-high pressure water fluid jet mode, but patent
In only robot is described, and not to including high-pressure water and recovery system, earth moving equipment, and control system
It is illustrated, and crawler type walking mechanism and permanent magnetic suck unit are arranged on crawler belt, and this body weight is larger, and crawler belt and ground
Frictional force is too big between face, cornering difficulties；Patent publication No. is " to be used for disclosed in CN101863294 Chinese patent literature
The magnetic-gap wall-climbing robot of Wet or dry condition ", the invention are derusted by the way of super-pressure pure water jets, by it is pneumatic (or
It is electronic) motor drive crawler travel, and the absorbing unit being made up of magnetic patch be respectively placed in crawler belt both sides and with the steel table of operation
Face does not contact and forms adjustable magnetic gap, and magnetic absorbing unit is using contactless, and frictional ground force is slightly smaller, but crawler-type traveling
Structure design causes body heavier and turned also more difficult.
In addition, using high-pressure water as derusting working media, typically require operating pressure at least to reach 150Mpa with
On, derusting cleaner is complicated, very expensive, is difficult to be promoted at home at present, in addition, if technological parameter is improper, also holds
The problem of easily causing " flash rusting ", this all limits the application of hydroblasting mode, and uses derusting by sandblasting, simple and convenient, removes
Efficiency high, the quality of becoming rusty are good, if solving the problems, such as that abrasive material, rust be dirty and the recovery of dust, that can yet be regarded as it is a kind of it is economical, it is simple and
Effective derusting mode.
The content of the invention
For in the prior art the defects of, it is an object of the invention to provide a kind of surface derusting system for ship hull plate
System.
According to the surface derusting system provided by the present invention for ship hull plate, including wall-climbing device human body, safety dress
Put, derusting by sandblasting device, air compressor machine, abrasive material induction system, negative pressure of vacuum recovery system, abrasive material separate recirculating system and control
Cabinet；
Wherein, the safety device is used to be arranged on ship body；The wall-climbing device human body connects the safety
Device；The derusting by sandblasting device is arranged on the wall-climbing device human body；
Abrasive material induction system described in the sand-feeding tube fittings of the derusting by sandblasting device, vacuum described in sand-returning pipe fittings
Recovery system；
Described negative pressure of vacuum recovery system is by sand-returning pipe fittings derusting by sandblasting device, in sandblasting procedures
Iron rust, greasy dirt, dust and the abrasive material that impacts workpiece surface and rebound back are reclaimed.
The air compressor machine connects the abrasive material induction system, abrasive material separation recirculating system, for the abrasive material
Induction system, abrasive material separating system provide compressed air；
The abrasive material separating system is used to be fed again into mill after the abrasive material of vacuum recovery system recovery is separated
Expect induction system, and wherein dust and rust dirt is collected and filtered by dust bucket and filter screen etc. respectively.
The switch board electrically connects the wall-climbing device human body, derusting by sandblasting device, air compressor machine, abrasive material induction system, true
Empty negative pressure recovery system and abrasive material separate recirculating system.
Preferably, in addition to remote-control box and moveable platform；
Wherein, the remote-control box wirelessly or non-wirelessly connects the switch board；The air compressor machine, the abrasive material induction system,
The negative pressure of vacuum recovery system, abrasive material separation recirculating system and the switch board are arranged on the moveable platform
On.
Preferably, described derusting by sandblasting device include electric rotating machine, decelerator, sandblasting chamber, spray gun, sand-feeding tube joint,
Hairbrush and recovery pipe joint；
Wherein, sand-feeding tube joint one end is connected by sand-feeding tube with abrasive material induction system, and what is set on sandblasting chamber returns
Sandpipe joint connects vacuum recovery system by sand-returning pipe；
The spray gun is arranged in the sandblasting chamber；The electric rotating machine is used to drive spray gun to revolve by the decelerator
Turn；The lower end of the sandblasting chamber is provided with hairbrush；The hollow shaft of the other end connection decelerator of sand-feeding tube joint, and then connect institute
State sandblasting chamber.
Preferably, the switch board includes guidance panel, video monitoring system, remote-control box and PLC master controllers；
Wherein, the guidance panel, the video monitoring system and the remote-control box are all connected with master controller.
Preferably, the PLC master controllers include switch value input interface unit, output switch parameter interface unit and fortune
Movement controller；
Switch value input interface unit connects the guidance panel, abrasive material induction system, abrasive material separation recirculating system, very
Empty negative pressure recovery system, the safety travel limit switch of wall-climbing device body and proximity switch, the signal receiving unit of remote-control box；
Output switch parameter interface unit connection abrasive material induction system, abrasive material separation recirculating system, negative pressure of vacuum recovery system
System, the signal transmitting unit of remote-control box；
Motion controller connects the motor driver of wall-climbing device human body and derusting by sandblasting device.
Described safety travel limit switch is connected to PLC input signal unit.
Described proximity switch is connected to PLC input signal unit.
Preferably, the video monitoring system includes video monitor, preceding video monitoring camera and rear video monitoring
Camera；
The preceding video monitoring camera, rear video monitoring camera pass through video monitoring described in wired or wireless connection
Device connects；
The video monitor connects the PLC master controllers；
Preceding video monitoring camera, rear video monitoring camera are arranged on the wall-climbing device human body；
Preceding video monitoring camera is used for captured in real-time weld seam path；Rear video monitoring camera is used to monitor sandblasting in real time
The quality of derusting.
Preferably, it is spacing to be provided with the first safety travel limit switch, the second safety travel for the front end of wall-climbing device body
Switch, rear end is provided with the 3rd safety travel limit switch, the 4th safety travel limit switch；
First safety travel limit switch, the second safety travel limit switch, the 3rd safety travel limit switch, the 4th peace
Total travel limit switch is connected with switch value input interface unit, wherein, the first safety travel limit switch, the second safety travel
Limit switch is used to detect the advancing stroke limit of wall-climbing device body, the 3rd safety travel limit switch, the 4th security row
Degree bit switch is used to detect the stroke limit in wall-climbing device body fallback procedures.
Preferably, the front end of wall-climbing device body downside is provided with the first proximity switch, the second proximity switch, and rear end is set
It is equipped with the 3rd proximity switch, the 4th proximity switch；First proximity switch, the second proximity switch, the 3rd proximity switch, the 4th approach
Switch is connected with switch value input interface unit, wherein, the first proximity switch, the second proximity switch are used to detect wall-climbing device sheet
The distance of lower section car body and workpiece surface on front side of body, the 3rd proximity switch, the 4th proximity switch are used to detect wall-climbing device body
The distance between rear side lower section and workpiece surface.
Compared with prior art, the present invention has following beneficial effect：
1st, the present invention is carried out to tun using climbing robot as motion body based on sandblasting mode, wall surfaces of ships,
The large-sized aerial work structural members such as electric power station carry out derusting by sandblasting, and abrasive material, dust and rust dirt are carried out based on negative pressure of vacuum
Nearly 100% recovery, separation and cycling and reutilization, greatly reduces cost, reduces the pollution to environment and human body is good for
The harm of health；
2nd, the present invention uses video monitoring system to realize real-time monitoring and guiding to derusting by sandblasting quality and path of derusting,
Safety detection and the control to climbing robot operation process are realized based on stroke limit and detection of tumbling；
3rd, the present invention can safe and environment-friendly, energy-conservation, work high above the ground height up to 30m, accessibility is strong, single derusting width
Wide reachable more than 200mm, it is efficiently, easy to operate, the efficiency and quality of sandblasting are substantially increased, moveable platform facilitates warship
The field applications such as ship, tun, electric power station；
4th, the present invention can substitute the derusting by sandblasting for manually realizing big splicing welding joint, reduce labor intensity, improve spray
The automatization level of sand derusting.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural representation for the surface derusting system for being used for ship hull plate in the present invention；
Fig. 2 (a), the major elements figure that (b) is climbing robot in the present invention；
Fig. 3 is the control system schematic diagram of climbing robot in the present invention.
In figure：
1 is wall-climbing device human body；2 be derusting by sandblasting device；3 be sand-returning pipe；4 be sand-feeding tube；5 be that signal controls cable；6
For negative pressure of vacuum recovery system；7 be that abrasive material separates recirculating system；8 be abrasive material induction system；9 be air compressor machine；10 be control
Cabinet；11 be remote-control box；12 be moveable platform；13 be safety device；14 be ship body；151 be preceding video monitoring camera；
152 be rear video monitoring camera；161 be the first driving wheel；162 be the second driving wheel；163 be the 3rd driving wheel；164 be
Four driving wheels；17 be hairbrush；181 be the first safety travel limit switch, and 182 be the second safety travel limit switch；191 be
One proximity switch；192 be the second proximity switch；201 be the 3rd safety travel limit switch, and 202 be that the 4th safety travel is spacing
Switch；211 be the 3rd proximity switch；212 be the 4th proximity switch；22 be video monitor；24 be touch-screen；26 be PLC master
Controller；27 be electric rotating machine；28 be sand-feeding tube joint；29 be recovery pipe joint.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Figure 1 and Figure 2, in the present embodiment, include provided by the present invention for the surface derusting system of ship hull plate
Wall-climbing device human body 1, safety device 13, derusting by sandblasting device 2, air compressor machine 9, abrasive material induction system 8, negative pressure of vacuum recovery system
6th, abrasive material separation recirculating system 7 and switch board 10；
Wherein, the safety device 13 is used to be arranged on ship body 14；The wall-climbing device human body 1 connects described
Safety device 13；The derusting by sandblasting device 2 is arranged on the wall-climbing device human body 1；Wall-climbing device human body 1 drives spray to remove
Rust device 2 moves；
The sand-feeding tube joint 28 of the derusting by sandblasting device 2 connects the abrasive material induction system 8, and sand-returning pipe joint 29 connects institute
State vacuum recovery system 6；
The air compressor machine 9 connects the abrasive material induction system 8, abrasive material separation recirculating system 7, for defeated to the abrasive material
System 8, abrasive material separating system 7 is sent to provide compressed air；
The abrasive material separating system 7 is used to after the abrasive material that vacuum recovery system 6 reclaims is separated be fed again into
Abrasive material induction system 8；
The switch board 10 electrically connects the wall-climbing device human body 1, derusting by sandblasting device 2, air compressor machine 9, abrasive material delivery system
System 8, negative pressure of vacuum recovery system 6 and abrasive material separation recirculating system 7.
Ship hull plate derusting by sandblasting mobile robot provided by the invention also includes remote-control box 11 and moveable platform 12；
Wherein, switch board 10 described in the wireless connection of remote-control box 11；The air compressor machine 9, the abrasive material induction system 8,
The negative pressure of vacuum recovery system 6, abrasive material separation recirculating system 7 and the switch board 10 are arranged on described removable
On platform 12.
Described derusting by sandblasting device 2 includes electric rotating machine, decelerator, sandblasting chamber, spray gun, sand-feeding tube joint 28, hairbrush
17 and recovery pipe joint 29；
Wherein, the one end of sand-feeding tube joint 28 is connected by sand-feeding tube 4 with abrasive material induction system 8, is set on sandblasting chamber
Sand-returning pipe joint 29 pass through sand-returning pipe 3 connect vacuum recovery system 6；
The spray gun is arranged in the sandblasting chamber；The electric rotating machine 27 is used to drive spray gun by the decelerator
Rotation；The lower end of the sandblasting chamber is provided with hairbrush 17；The hollow shaft of the other end connection decelerator of sand-feeding tube joint 28, and then
Connect the sandblasting chamber.
More specifically, described air compressor machine 9 is climbing robot, abrasive material induction system 8, abrasive material separating system 7
There is provided in 0.6-0.8MPa, 6-8m3/min compressed air.
The abrasive material induction system 8 opens sand valve in the presence of the compressed air that air compressor machine 9 provides, empty using compression
Abrasive material is transported to 20-30m distant place by sand-feeding tube 4 or high-altitude and is input to spray by sand-feeding tube joint 28 by the thrust of gas
The spray gun of sand rust removal 2, so as to realize the derusting by sandblasting to workpiece surface.
The vacuum recovery system 4 refers to carry out air-breathing by sandblasting cavity of the vavuum pump to derusting by sandblasting device, so as to produce
Raw negative pressure, in the presence of negative pressure of vacuum, by the abrasive material during derusting by sandblasting, dust, become rusty it is dirty wait by with derusting by sandblasting device
The connected recovery tube of sand-returning pipe joint 29 reclaimed.Wherein dust and rust dirt is received respectively by dust bucket and filter screen etc.
Collection and filtering.
The abrasive material separating system 7 is used for the abrasive material reclaimed by vacuum recovery system 6, in the effect of compressed air
Under, separated based on cyclonic separation principle, abrasive material induction system is again introduced into using more feed bin structures, so as to repeatedly circulate
Use, greatly reduce cost.
As shown in figure 3, the switch board 10 includes guidance panel, video monitoring system and PLC master controllers 26；
The PLC master controllers 26 include switch value input interface unit, output switch parameter interface unit, motion control
Device, Ethernet interface unit and Bus Interface Unit；The guidance panel uses touch-screen 24；
Wherein, switch value input interface unit is connected with guidance panel, start for transmitting program, stop, servo shut-off,
The control information such as servo startup, system reset, failure reset, system jerk, the connection abrasive material conveying of switch value input interface unit
System, abrasive material separation recirculating system, negative pressure of vacuum recovery system, the front end of wall-climbing device body 1 are provided with the first security row
Degree bit switch 181, the second safety travel limit switch 182, rear end are provided with the 3rd safety travel limit switch the 201, the 4th
Safety travel limit switch 202；The front end of wall-climbing device body downside is provided with the first proximity switch 191, second close to opening
192 are closed, rear end is provided with the 3rd proximity switch 211, the 4th proximity switch 212.Switch value input interface unit and remote-control box 11
Signal receiving unit be connected, for transmitting the advance, retrogressing, turning of wall-climbing device human body 1, the turning of spray gun, sandblasting, suction
The control information such as sand, air blowing, jerk.
Output switch parameter interface unit separates recirculating system, negative pressure of vacuum recovery system with abrasive material induction system, abrasive material
Be connected to transmit control information, circulated with the separation for controlling the conveying of abrasive material, reclaiming abrasive material, abrasive material and the dirty recovery of rust so that
Whole system is according to certain sequential working；Output switch parameter interface unit also with system ready, electrical fault, power supply instruction,
The devices such as buzzer warning, tri-colour LED are connected to reflect the working condition of system；Output switch parameter interface unit also with it is distant
Control whether the signal transmitting unit of box 11 is connected ready with reponse system, and feed bin lacks material, motor overload, climbing robot state etc.
Information facilitates field control and operation.The motion controller of PLC master controllers 26 then by Profibus Bus Interface Units with
Wall-climbing device human body 1 is connected with the motor driver of derusting by sandblasting device 2, is revolved with transmitting wall-climbing device human body motion and spray gun
The state and control information turned, PLC master controllers 26 are connected by Ethernet Ethernet interface units with Industrial PC, to receive
The robot correction position control signal and the position letter of Real-time Feedback current robot that Industrial PC obtains by control algolithm
Breath.
First safety travel limit switch 181, the second safety travel limit switch 182, the 3rd safety travel limit switch
201st, the 4th safety travel limit switch 202 is connected with switch value input interface unit, wherein, the first safety travel limit switch
181st, the second safety travel limit switch 182 is used to detect 1 advancing stroke limit of wall-climbing device body, the 3rd safety travel
Limit switch 201, the 4th safety travel limit switch 202 are used to detect the stroke limit in the fallback procedures of wall-climbing device body 1,
When running into barrier in advance or fallback procedures, the stop motion immediately of wall-climbing device body 1, ensure sandblasting procedures safety.
First proximity switch 191, the second proximity switch 192, the 3rd proximity switch 211, the 4th proximity switch 212 and switch
Amount input interface unit is connected, wherein, the first proximity switch 191, the second proximity switch 192 are used for before detecting wall-climbing device body
The distance of side-lower car body and workpiece surface, the 3rd proximity switch 211, the 4th proximity switch 212 are used to detect wall-climbing device sheet
The distance between lower section and workpiece surface, prevent wall machine body from sky is tumbled or stepped in operation process, when any on rear side of body
When proximity switch has signal input, system is immediately performed security procedure, and wall machine body stops walking, derusting by sandblasting process is stopped
Only, ensure the safety of whole operation process and prevent tumbling for wall machine body.
The video monitoring system includes video monitor 22, preceding video monitoring camera 151 and rear video monitoring and taken the photograph
As first 152；
The preceding video monitoring camera 151, rear video monitoring camera 152 by it is wired or wirelessly with switch board
Video monitor 22 connect；
By video monitor 22 not only can the motion path of real-time monitored and long-range adjustment wall-climbing device human body 1 may be used also
The quality of monitoring derusting by sandblasting in real time.Preceding video monitoring camera 151 is used for captured in real-time weld seam path, facilitates ground operator
Member's remote control robot motion path, retreats after derusting by sandblasting, can reflect current derusting by sandblasting by video monitor 22
Quality, it is convenient to adjust derusting by sandblasting technological parameter.
Rear video monitoring camera 152 is used for the quality that can monitor derusting by sandblasting in real time in operation process, convenient real-time
Adjusting process parameter, it can also monitor derusting by sandblasting path, realizing route remote control.Only with preceding video monitoring camera 151 not
The quality of derusting by sandblasting can be monitored in operation process, and only can not reflect robot in real time with rear video monitoring camera 152
The path situation of front end.Therefore being actually needed according to scene, preceding dual camera 151, rear dual camera 152 can be matched somebody with somebody, also can be single
Solely match somebody with somebody preceding camera 151 or rear camera 152.
Described remote-control box 11 mainly includes signal input unit and signal output unit, and signal input unit, signal are defeated
It can be wired connection or wireless connection to go out between unit and PLC master controllers 26, can be that bus can also IO letters
Number point is joined directly together.The signal output unit of remote-control box 11 is connected with the input block of PLC master controllers 26, with climbing robot
The control information such as advance, retrogressing, the turning of body 1, sandblasting, suction sand, air blowing, and signal input unit and PLC master controllers 26
Signal output unit be connected, failure ready with reponse system, motor overload, the main state letter of the system such as material position, sandblasting
Breath, to facilitate execute-in-place and control, improves the efficiency and security of system.
As shown in figure 1, the safety device 13 be climbing robot during derusting by sandblasting, by hoist engine and anti-
Motion and derusting by sandblasting process of the device to climbing robot is fallen to protect.Generally, the wire rope rope of safety device is in climbing wall machine
The front end of device people, if operation in cambered surface is tilted in larger high-altitude, to prevent robot swings from raising, generally in climbing robot
Rear end is aided with catching device protection.
As shown in figure 1, described moveable platform, wherein：Wall-climbing device human body 1, safety device 13, derusting by sandblasting device
2, air compressor machine 9, abrasive material induction system 8, negative pressure of vacuum recovery system 6, abrasive material separation reutilization system 7, switch board 10, sand-feeding tube
4th, sand-returning pipe 2 and the control all fixed placements of cable 5 are above.Moveable platform can be electric wheeled or wheel
Formula, facilitate live fork truck transporting mode.According to different dock sizes or the needs of use occasion, moveable platform can
Think one, can also be by these equipment fixed placements on two platforms.Under normal circumstances, for convenience, wall machine will can be climbed
Device human body 1, derusting by sandblasting device 2, abrasive material induction system 8, negative pressure of vacuum recovery system 6, abrasive material separation reutilization system 7, control
Cabinet 10 processed, sand-returning pipe 2, sand-feeding tube 4 and control cable all 5, remote-control box 11 is individually placed on a platform, and by air compressor machine 9,
Safety device 13 is separately positioned on another platform.Two less mobile platforms, be more convenient equipment scene transhipment and
It is mobile.
The present embodiment, the derusting by sandblasting operation process of ship hull plate derusting by sandblasting mobile robot provided by the invention is such as
Under：In the presence of compressed air, abrasive material is transported in the derusting by sandblasting device 2 of work high above the ground, internally automatical and efficient spray
In the presence of rifle, derusting by sandblasting is carried out to workpiece surface, while drive spray gun to revolve by the electric rotating machine 27 of derusting by sandblasting device 2
Turn, improve the width of single derusting by sandblasting, and caused dust, the dirty and unbroken abrasive material that becomes rusty are born in vacuum in sandblasting procedures
Reclaimed in the presence of pressure by sand-returning pipe 3, abrasive material is further then separated into cycling and reutilization, and wall-climbing device human body
1 load derusting by sandblasting device 2, signal control cable 5, sand-feeding tube 4, sand-returning pipe 3 move together, realize to sandblasting path and track
Control, and video monitor 22 can monitor the quality of sandblasting track and derusting by sandblasting in real time, realize that wall is climbed in long-range adjustment in real time
The motion path of robot body 1 and 2 technological parameters of derusting by sandblasting device.In the presence of electric rotating machine 27, single sandblasting
Width can be in more than 200-300mm, and negative pressure of vacuum recovery system has substantially carried out 100% dust, the recovery for dirt of becoming rusty,
Reduce harm of the derusting by sandblasting to health and the pollution to environment to greatest extent.And the multi-cycle separation of abrasive material is sharp again
With then greatly reducing the consumption of abrasive material., can be in similar hull and the climbing robot 1 based on wheeled construction moves flexibly
The all-around mobiles such as advance, retrogressing, turning are realized on large curved surface high this 20-30m of outside plate, improve production efficiency and high-altitude
The height of the accessibility and security of operation, sandblasting efficiency, quality and security and operation is all that artificial sandblasting can not be compared
Intend.Whole process energy-saving and environmental protection, safe efficient, simple, convenient, the angle either from economic benefit and social benefit
The occasion such as degree, the device band shipbuilding, tun and electric power station has boundless application space.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (8)
- A kind of 1. surface derusting system for ship hull plate, it is characterised in that including wall-climbing device human body, safety device, Derusting by sandblasting device, air compressor machine, abrasive material induction system, negative pressure of vacuum recovery system, abrasive material separation recirculating system and switch board；Wherein, the safety device is used to be arranged on ship body；The wall-climbing device human body connects the safety device； The derusting by sandblasting device is arranged on the wall-climbing device human body；Abrasive material induction system described in the sand-feeding tube fittings of the derusting by sandblasting device, vacuum described in sand-returning pipe fittings reclaim System；Described negative pressure of vacuum recovery system is by sand-returning pipe fittings derusting by sandblasting device, for the iron in sandblasting procedures Rust, greasy dirt, dust and the abrasive material that impacts workpiece surface and rebound back are reclaimed；The air compressor machine connects the abrasive material induction system, abrasive material separation recirculating system, for being conveyed to the abrasive material System, abrasive material separating system provide compressed air；The abrasive material separating system is defeated for being fed again into abrasive material after the abrasive material of vacuum recovery system recovery is separated Send system；The switch board electrically connects the wall-climbing device human body, derusting by sandblasting device, air compressor machine, abrasive material induction system, vacuum are born Press recovery system and abrasive material separation recirculating system.
- 2. the surface derusting system according to claim 1 for ship hull plate, it is characterised in that also including remote-control box and Moveable platform；Wherein, the remote-control box Wireless-wire or the wireless switch board；The air compressor machine, the abrasive material induction system, institute State negative pressure of vacuum recovery system, abrasive material separation recirculating system and the switch board and be arranged on the moveable platform On.
- 3. the surface derusting system according to claim 1 for ship hull plate, it is characterised in that described derusting by sandblasting Device includes electric rotating machine, decelerator, sandblasting chamber, spray gun, sand-feeding tube joint, hairbrush and recovery pipe joint；Wherein, sand-feeding tube joint one end is connected by sand-feeding tube with abrasive material induction system, the sand-returning pipe set on sandblasting chamber Joint connects vacuum recovery system by sand-returning pipe；The spray gun is arranged in the sandblasting chamber；The electric rotating machine is used to drive spray gun to rotate by the decelerator； The lower end of the sandblasting chamber is provided with hairbrush；The hollow shaft of the other end connection decelerator of sand-feeding tube joint, and then described in connection Sandblasting chamber.
- 4. the surface derusting system according to claim 1 for ship hull plate, it is characterised in that the switch board includes Guidance panel, video monitoring system, remote-control box and PLC master controllers；Wherein, the guidance panel, the video monitoring system and the remote-control box are all connected with master controller.
- 5. the surface derusting system according to claim 4 for ship hull plate, it is characterised in that the PLC main controls Device includes switch value input interface unit, output switch parameter interface unit and motion controller；Switch value input interface unit connects the guidance panel, abrasive material induction system, abrasive material separation recirculating system, and vacuum is born Press recovery system, the safety travel limit switch and proximity switch, the signal receiving unit of remote-control box of wall-climbing device body；It is output switch parameter interface unit connection abrasive material induction system, abrasive material separation recirculating system, negative pressure of vacuum recovery system, distant Control the signal transmitting unit of box；Motion controller connects the motor driver of wall-climbing device human body and derusting by sandblasting device.
- 6. the surface derusting system according to claim 4 for ship hull plate, it is characterised in that the video monitoring system System includes video monitor, preceding video monitoring camera and rear video monitoring camera；The preceding video monitoring camera, rear video monitoring camera are connected by video monitor described in wired or wireless connection Connect；The video monitor connects the PLC master controllers；Preceding video monitoring camera, rear video monitoring camera are arranged on the wall-climbing device human body；Preceding video monitoring camera is used for captured in real-time weld seam path；Rear video monitoring camera is used to monitor derusting by sandblasting in real time Quality.
- 7. the surface derusting system according to claim 5 for ship hull plate, it is characterised in that wall-climbing device body Front end is provided with the first safety travel limit switch, the second safety travel limit switch, and rear end is provided with the 3rd security row degree Bit switch, the 4th safety travel limit switch；First safety travel limit switch, the second safety travel limit switch, the 3rd safety travel limit switch, the 4th security row Degree bit switch is connected with switch value input interface unit, wherein, the first safety travel limit switch, the second safety travel are spacing Switch for detecting the advancing stroke limit of wall-climbing device body, the 3rd safety travel limit switch, the 4th security row degree Bit switch is used to detect the stroke limit in wall-climbing device body fallback procedures.
- 8. the surface derusting system according to claim 5 for ship hull plate, it is characterised in that under wall-climbing device body The front end of side is provided with the first proximity switch, the second proximity switch, and rear end is provided with the 3rd proximity switch, the 4th close to opening Close；First proximity switch, the second proximity switch, the 3rd proximity switch, the 4th proximity switch and switch value input interface unit phase Even, wherein, the first proximity switch, the second proximity switch are used to detect lower section car body and workpiece surface on front side of wall-climbing device body Distance, the 3rd proximity switch, the 4th proximity switch be used to detect on rear side of wall-climbing device body between lower section and workpiece surface away from From.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610532170.3A CN107584424A (en) | 2016-07-07 | 2016-07-07 | Surface derusting system for ship hull plate |
| PCT/CN2016/108853 WO2018006547A1 (en) | 2016-07-07 | 2016-12-07 | System for removing rust from hull surface of ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610532170.3A CN107584424A (en) | 2016-07-07 | 2016-07-07 | Surface derusting system for ship hull plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107584424A true CN107584424A (en) | 2018-01-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610532170.3A Pending CN107584424A (en) | 2016-07-07 | 2016-07-07 | Surface derusting system for ship hull plate |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107584424A (en) |
| WO (1) | WO2018006547A1 (en) |
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| 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 |
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| CN110757347A (en) * | 2019-11-02 | 2020-02-07 | 中国船舶重工集团公司第七一六研究所 | Automatic sand blasting system and method for ship curved surface segmentation |
| CN110682217A (en) * | 2019-11-18 | 2020-01-14 | 济南大学 | Abrasive recovery device for sand blasting cleaning of outer surface of ship |
| CN110900468A (en) * | 2019-12-23 | 2020-03-24 | 广州特种承压设备检测研究院 | Automatic crawling sand blasting and polishing device |
| CN111188043A (en) * | 2020-02-28 | 2020-05-22 | 温州阳格凡电子科技有限公司 | Chemical rust removal equipment for ship |
| CN111188043B (en) * | 2020-02-28 | 2020-11-20 | 温州市陆日智能科技有限公司 | Chemical rust removal equipment for ship |
| 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 |
| CN111992387A (en) * | 2020-07-09 | 2020-11-27 | 江苏科技大学 | Marine wall-climbing robot spraying device for curved surface spraying operation |
| CN113043171A (en) * | 2021-04-01 | 2021-06-29 | 中国船舶重工集团公司第七一六研究所 | Surface treatment operation platform based on sand sweeping and surface treatment method |
| CN113043171B (en) * | 2021-04-01 | 2022-06-10 | 中国船舶重工集团公司第七一六研究所 | Surface treatment operation platform based on sand sweeping and surface treatment method |
| 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 |
| CN113146480A (en) * | 2021-04-30 | 2021-07-23 | 中国石油大学(华东) | Controllable swing arm type sand blasting and rust removing wall climbing robot |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
| CN114147630A (en) * | 2021-10-27 | 2022-03-08 | 上海中船临港船舶装备有限公司 | Circulating type automatic surface cleaning device and using method thereof |
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Application publication date: 20180116 |