CN107585271B - Big seam rust cleaning of hull wall climbing robot - Google Patents
Big seam rust cleaning of hull wall climbing robot Download PDFInfo
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- CN107585271B CN107585271B CN201610532166.7A CN201610532166A CN107585271B CN 107585271 B CN107585271 B CN 107585271B CN 201610532166 A CN201610532166 A CN 201610532166A CN 107585271 B CN107585271 B CN 107585271B
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Abstract
The invention provides a large seam rust removal wall-climbing robot for a hull wall surface, which comprises a robot body, a driving wheel set, a motor module and a magnetic adsorption unit, wherein the driving wheel set is arranged on the robot body; the robot comprises a robot body, a motor module and a control module, wherein the motor module is arranged on the robot body; the driving wheel set is connected with the robot body; the motor module drives the driving wheel set to rotate; the robot body is provided with a robot body mounting hole. The invention adopts the wheel type walking mechanism, is convenient and flexible to turn, can adapt to large-area omnibearing movement on the hull outer plate, has large adsorption area because the magnetic adsorption unit is arranged at the bottom of the body robot, improves the stability, reliability and safety of the system in the side motion of the ship wall, has adjustable clearance with the bottom of a workpiece, and can adapt to workpieces of different materials and different thicknesses. The invention has flexible movement and large load capacity, can be used for sand blasting and rust removal on the outer plate of the hull, the inner wall of a cabin, a large-scale power station, a container and other occasions, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of coating and manufacturing of hull planking, in particular to a large-seam rust removal wall-climbing robot for a hull wall surface.
Background
At present, two main modes are adopted for removing rust on the surface of a ship body at home and abroad, the first mode is to adopt an ultrahigh pressure water jet technology to remove rust on the surface of the ship body, the other mode is to adopt a traditional sand blasting mode to remove rust, no matter which rust removing mode is adopted, a wall climbing robot is adopted as a motion carrier, and one of the two modes is very critical to the load capacity, turning capacity and the like of the wall climbing robot.
Through the retrieval and analysis of the prior art documents, the invention discovers that the Chinese patent document with the patent publication number of CN201633804U discloses a ship wall surface rust removal wall climbing robot, the working medium of the robot adopts an ultrahigh pressure water jet mode to remove rust, a permanent magnet adsorption unit is arranged on a crawler, the load capacity of the permanent magnet adsorption unit is about 140kg, a crawler type motion structure is adopted, the motion resistance is large, and the turning is very inflexible; the working medium of the magnetic gap type wall-climbing robot for dry and wet environments disclosed in the chinese patent publication No. CN 101863294 adopts an ultrahigh pressure pure water jet mode to remove rust, and is driven by a pneumatic motor, so that the position control precision is low, and the load capacity is about 140 kg. Chinese patent publication No. CN103171640A discloses a "wall-climbing robot based on permanent magnet adsorption structure", which has a small load and cannot meet the requirement of surface rust removal of hull plates.
The prior art documents are searched and analyzed, the weight of a general robot body is about 70-80kg, the weight of an ultrahigh pressure water jet flow derusting cleaner and the weight of a loading pipeline thereof reach more than 60kg by adopting an ultrahigh pressure water jet flow technology, the total load of a derusting wall-climbing robot system reaches more than 140kg, and if a sand blasting derusting mode is adopted, the total mass of a pipeline with the wall climbing operation height of about 20M and a sand blasting deruster reaches more than 120kg, so the total load of the derusting wall-climbing robot system reaches about 200 kg. However, the ultrahigh pressure water jet technology is very high in cost and expensive, if the technological parameters are inappropriate, the problem of rust return can occur, and the technology is difficult to popularize and apply in shipyards at present, while the sand blasting mode has low cost, good rust removing effect, high efficiency and simple and convenient operation, and if the environmental protection problem can be solved, the technology is an ideal mode. The load requirement is far higher than the load weight requirement of a common wall-climbing robot developed at present in China, and meanwhile, as the large seams of the wall surface of the ship body are many and long, and are arranged longitudinally, transversely and obliquely, the robot is required to turn flexibly and move in all directions, the design of the wall-climbing robot is challenged.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a large seam derusting and wall climbing robot for the wall surface of a ship body.
The invention provides a large seam derusting wall-climbing robot for a hull wall surface, which comprises a robot body, a driving wheel set, a motor module and a magnetic adsorption unit, wherein the driving wheel set is arranged on the robot body;
wherein the motor module is arranged on the robot body; the driving wheel set is connected with the robot body;
the motor module drives the driving wheel set to rotate; and the robot body is provided with a robot body mounting hole.
The front end of the bottom side surface of the robot body is provided with a front magnet frame, and the rear end of the bottom side surface of the robot body is provided with a rear magnet frame;
and the front magnet frame and the rear magnet frame are both provided with magnetic adsorption units.
Preferably, the drive wheel sets comprise a left front and rear drive wheel set and a right front and rear drive wheel set; the left front and rear driving wheel set is arranged on one side surface of the robot body; the right front and rear driving wheel set is arranged on the other side surface of the robot body;
the motor module comprises a left motor and a speed reducing mechanism and a right motor and a speed reducing mechanism; the left motor and the speed reducing mechanism drive the left front and rear driving wheel set to rotate; and the right motor and the speed reducing mechanism drive the right front and rear driving wheel set to rotate.
Preferably, the left front and rear drive wheel set comprises a left front drive wheel and a left rear drive wheel;
the left front driving wheel and the left rear driving wheel are connected through a left driving wheel set chain wheel and chain mechanism; the left motor and the speed reducing mechanism drive the left front and rear driving wheel set to rotate through a left driving wheel set chain wheel and chain mechanism;
the right front and rear driving wheel group comprises a right front driving wheel and a right rear driving wheel;
the right front driving wheel and the right rear driving wheel are connected through a right driving wheel set chain wheel and chain mechanism; and the left motor and the speed reducing mechanism drive the right front and rear driving wheel set to rotate through a right driving wheel set chain wheel and chain mechanism.
Preferably, the device further comprises a left driving wheel set bearing and a right driving wheel bearing;
the left front and rear driving wheel set is connected with one side surface of the robot body through a left driving wheel set bearing; and the right front and rear driving wheel set is connected with the other side surface of the robot body through a right driving wheel bearing.
Preferably, the device further comprises a right tensioning wheel and adjusting mechanism and a left tensioning wheel and adjusting mechanism;
the adjusting ends of the left tensioning wheel and the adjusting mechanism are connected with one side face of the robot body, and the tensioning wheel ends of the left tensioning wheel and the adjusting mechanism are connected with the left driving wheel set chain wheel and chain mechanism and used for adjusting the tension degree of a chain in the left driving wheel set chain wheel and chain mechanism;
the adjusting end of the right tensioning wheel and adjusting mechanism is connected with the other side surface of the robot body, and the tensioning wheel end of the right tensioning wheel and adjusting mechanism is connected with the right driving wheel set chain wheel and chain mechanism and used for adjusting the tension degree of a chain in the right driving wheel set chain wheel and chain mechanism.
Preferably, the magnetic adsorption units are divided into four groups, and a left magnetic adsorption unit and a right magnetic adsorption unit are arranged on the front magnet frame (8) and the rear magnet frame (6);
a gap is arranged between the left magnetic adsorption unit and the right magnetic adsorption unit.
Preferably, the front end and the rear end of the robot body are respectively provided with a safety bolt, a safety frame, a video camera, a travel limit switch and a photoelectric proximity switch;
the travel limit switch is used for detecting the forward and backward safe distance of the robot body; and the photoelectric proximity switch is used for detecting the contact distance between the robot body and the wall surface of the ship body.
Preferably, the left front driving wheel, the left rear driving wheel, the right front driving wheel and the right rear driving wheel are made of polyurethane or rubber.
Preferably, the walking mechanism further comprises a walking mechanism wheel cover;
the left front driving wheel, the left rear driving wheel and the left driving wheel set chain wheel and chain mechanism are arranged on the inner side of a traveling mechanism wheel cover;
the right front driving wheel, the right rear driving wheel and the right driving wheel set chain wheel and chain mechanism are arranged on the inner side of the wheel cover of the other travelling mechanism.
Preferably, an output sprocket is also included;
the left motor and the speed reducing mechanism drive a chain wheel and chain mechanism of a left driving wheel set through an output chain wheel; and the right front driving wheel and the right rear driving wheel drive the chain wheel and chain mechanism of the right driving wheel set through another output chain wheel.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts a wheel type walking mechanism, is convenient and flexible to turn, can adapt to large-area omnibearing movement on a ship hull outer plate, is provided with a magnetic adsorption unit at the bottom of a robot body, has large adsorption area, improves the stability, reliability and safety of the system in the motion of the side surface of a ship wall, is adjustable in clearance between the magnetic adsorption unit and the bottom of a workpiece, and can adapt to workpieces of different materials and different thicknesses;
2. the front and rear double-driving-wheel mechanism ensures the stability of operation, the contact area of the non-metal driving wheels is larger, the operation is stable, and meanwhile, the damage to the surface of a workpiece during turning is avoided;
3. the invention has flexible movement and large load capacity, can be used for sand blasting and rust removal on the outer plate of the hull, the inner wall of a cabin, a large-scale power station, a container and other occasions, and has wide application prospect.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1, fig. 2 and fig. 3 show the structural schematic diagram of the large seam rust removal wall-climbing robot for the hull wall surface.
In the figure:
1 is a left front and rear driving wheel set;
2, a left driving wheel set chain wheel and chain mechanism;
3 is a robot body;
4 is a left tension wheel and an adjusting mechanism;
5 is a left driving wheel group bearing;
6 is a rear magnet frame;
7 is a robot body mounting hole;
8 is a front magnet frame;
9 is a right front rear driving wheel group;
10 is a right tension wheel and an adjusting mechanism
11 is a right driving wheel set chain wheel and chain mechanism;
12 is a right driving wheel bearing
13 is a left motor and a speed reducing mechanism;
14 is a right motor and a speed reducing mechanism;
15 is an output chain wheel;
16 is a driving wheel dust cover;
17 is a left and right driving mechanism bracket;
and 18 is a magnetic adsorption unit.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In this embodiment, the rust removal wall-climbing robot with the large seam on the hull wall provided by the invention comprises a robot body 3, a driving wheel set, a motor module and a magnetic adsorption unit;
wherein the motor module is arranged on the robot body 3; the driving wheel set is connected with the robot body 3;
the motor module drives the driving wheel set to rotate; and a robot body mounting hole 7 is formed in the robot body 3.
The robot body mounting hole 7 is connected with the vacuum sand blasting deruster based on negative pressure through a mounting mechanism.
The driving wheel set comprises a left front and rear driving wheel set 1 and a right front and rear driving wheel set 9; the left front and rear driving wheel set 1 is arranged on one side surface of the robot body 3; the right front and rear driving wheel set 9 is arranged on the other side surface of the robot body 3;
the motor module comprises a left motor and speed reducing mechanism 13 and a right motor and speed reducing mechanism 14; the left motor and the speed reducing mechanism 13 drive the left front and rear driving wheel set 1 to rotate; the right motor and speed reducing mechanism 14 drives the right front and rear driving wheel set 9 to rotate. The left front and rear driving wheel set 1 and the right front and rear driving wheel set 9 are driving wheels.
The left motor and reduction mechanism 13 and the right motor and reduction mechanism 14 are diagonally symmetrical with respect to the robot body, and are located on the left and right sides of the front portion of the robot body or on the left and right sides of the rear portion of the robot body.
The left front and rear driving wheel set 1 comprises a left front driving wheel and a left rear driving wheel;
the left front driving wheel and the left rear driving wheel are connected through a left driving wheel set chain wheel and chain mechanism 2; the left motor and speed reducing mechanism 13 drives the left front and rear driving wheel set 1 to rotate through the left driving wheel set chain wheel and chain mechanism 2; the left front driving wheel and the left rear driving wheel are respectively connected with a chain wheel and chain mechanism 2 of a left driving wheel set through chain wheels;
the right front and rear driving wheel group 9 comprises a right front driving wheel and a right rear driving wheel;
the right front driving wheel and the right rear driving wheel are connected through a right driving wheel set chain wheel and chain mechanism 11; the left motor and speed reducing mechanism 13 drives the right front and rear driving wheel set 9 to rotate through the right driving wheel set chain wheel and chain mechanism 11; the right front driving wheel and the right rear driving wheel are respectively connected with a right driving wheel set chain wheel and chain mechanism 11 through chain wheels.
The invention provides a large seam derusting wall-climbing robot for the wall surface of a ship body, which further comprises a left driving wheel set bearing 5 and a right driving wheel bearing 12;
the left front-back driving wheel set 1 is connected with one side surface of the robot body 3 through a left driving wheel set bearing 5; the right front and rear driving wheel set 9 is connected with the other side surface of the robot body 3 through a right driving wheel bearing 12.
The invention provides a large seam derusting wall-climbing robot for a hull wall surface, which further comprises a right tensioning wheel and adjusting mechanism 10 and a left tensioning wheel and adjusting mechanism 4;
the adjusting end of the left tensioning wheel and adjusting mechanism 4 is connected with one side surface of the robot body 3, and the tensioning wheel end of the left tensioning wheel and adjusting mechanism 4 is connected with the left driving wheel set chain wheel and chain mechanism 2 and used for adjusting the tension degree of a chain in the left driving wheel set chain wheel and chain mechanism 2;
the adjusting end of the right tensioning wheel and adjusting mechanism 10 is connected with the other side surface of the robot body 3, and the tensioning wheel end of the right tensioning wheel and adjusting mechanism 10 is connected with the right driving wheel set chain wheel and chain mechanism 11 and used for adjusting the tension degree of a chain in the right driving wheel set chain wheel and chain mechanism 11.
The front end of the lower side surface of the robot body 3 is provided with a front magnet frame 8, and the rear end is provided with a rear magnet frame 6;
the front magnet frame 8 and the rear magnet frame 6 are provided with magnetic adsorption units. The front magnet frame 8 is positioned at the axial positions of the left front driving wheel and the right front driving wheel; the rear magnet frame 6 is located at the axial positions of the left and right rear drive wheels. The gap between the magnetic adsorption unit and the wall surface of the ship body is adjustable by 2-10 mm.
The magnetism adsorb the unit and divide into four groups altogether, two sets of magnetism adsorb the unit about setting up on the preceding magnet frame to set up sufficient space about between two sets of absorption units, in order to avoid the welding seam surplus height, make things convenient for the welding seam to pass through. Similarly, a left magnetic adsorption unit and a right magnetic adsorption unit are also arranged on the rear magnet frame, and a sufficient gap is arranged between the left magnetic adsorption unit and the right magnetic adsorption unit, so that the weld reinforcement is avoided, and the weld can pass through conveniently.
The front end and the rear end of the robot body 3 are respectively provided with a safety bolt, a safety frame, a video camera, a travel limit switch and a photoelectric proximity switch;
the travel limit switch is used for detecting the forward and backward safe distance of the robot body 3; and the photoelectric proximity switch is used for detecting the contact distance between the robot body 3 and the wall surface of the ship body.
The left front driving wheel, the left rear driving wheel, the right front driving wheel and the right rear driving wheel are made of polyurethane or rubber, so that the damage to the painted surface of the workpiece caused by the extrusion of the wheels when the robot turns is avoided to the greatest extent.
The invention provides a large seam derusting wall-climbing robot for the wall surface of a ship body, which also comprises a traveling mechanism wheel cover; the left front driving wheel, the left rear driving wheel and the left driving wheel set chain wheel and chain mechanism 2 are arranged on the inner side of a traveling mechanism wheel cover;
and the right front driving wheel, the right rear driving wheel and the right driving wheel set chain wheel and chain mechanism 11 are arranged on the inner side of the wheel cover of the other travelling mechanism.
The big seam rust removal wall climbing robot of hull wall that the invention provides, also include the output sprocket 15; wherein, the left motor and speed reducing mechanism 13 drives the left driving wheel set chain wheel and chain mechanism 2 through an output chain wheel; the right front driving wheel and the right rear driving wheel drive the right driving wheel set chain wheel and chain mechanism 11 through another output chain wheel.
The large seam derusting wall climbing robot for the hull wall surface provided by the invention mainly carries out load climbing wall advancing by a magnetic adsorption mode, the distance between a magnet and the hull wall surface can be adjusted to generate different magnetic adsorption forces to meet the requirements of different weights, different advancing speeds and different operation modes, and the climbing working wall surface can be a 90-degree vertical surface, a large-diameter spherical surface, a curved surface and an inclined surface, and can even be a-180 ceiling inverted-upward wall surface or the top surface of the inner wall of a steel container and the like.
The wheel type walking mechanism of the wall-climbing robot in the embodiment is convenient and flexible to turn, and is suitable for large-area all-directional movement of a hull plate. The magnetic adsorption unit is arranged at the bottom of the body, the adsorption area is large, the stability, reliability and safety of the system moving on the side face of the ship wall are improved, and meanwhile, the gap between the magnetic adsorption unit and the bottom of the workpiece is adjustable, so that the magnetic adsorption unit is suitable for workpieces made of different materials and different thicknesses. The front and the rear double-driving-wheel mechanisms ensure the stability of operation. The non-metal driving wheel has larger contact area and stable operation, and simultaneously avoids the damage to the surface of the workpiece when turning.
The rust removing wall climbing robot has flexible movement and large load capacity, can be used for sand blasting rust removal on the outer plate of a ship body, the inner wall of a cabin, a large-sized power station, a container and other occasions, and has wide application prospect.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (6)
1. A large seam rust removal wall-climbing robot for a hull wall surface is characterized by comprising a robot body (3), a driving wheel set, a motor module and a magnetic adsorption unit;
wherein the motor module is arranged on the robot body (3); the driving wheel set is connected with the robot body (3);
the motor module drives the driving wheel set to rotate; a robot body mounting hole (7) is formed in the robot body (3);
the front end of the bottom side surface of the robot body (3) is provided with a front magnet frame (8), and the rear end is provided with a rear magnet frame (6);
the front magnet frame (8) and the rear magnet frame (6) are both provided with a magnetic adsorption unit with adjustable height;
the magnetic adsorption units are divided into four groups, and a left magnetic adsorption unit and a right magnetic adsorption unit are arranged on the front magnet frame (8) and the rear magnet frame (6);
a gap is arranged between the left magnetic adsorption unit and the right magnetic adsorption unit;
the driving wheel set comprises a left front and rear driving wheel set (1) and a right front and rear driving wheel set (9); the left front and rear driving wheel set (1) is arranged on one side surface of the robot body (3); the right front and rear driving wheel set (9) is arranged on the other side surface of the robot body (3);
the left front and rear driving wheel set (1) comprises a left front driving wheel and a left rear driving wheel, and the right front and rear driving wheel set (9) comprises a right front driving wheel and a right rear driving wheel;
the front magnet frame (8) is positioned at the axial positions of the left front driving wheel and the right front driving wheel; the rear magnet frame (6) is positioned at the axial line position of the left rear driving wheel and the right rear driving wheel;
the motor module comprises a left motor and speed reducing mechanism (13) and a right motor and speed reducing mechanism (14); the left motor and the speed reducing mechanism (13) drive the left front and rear driving wheel set (1) to rotate; the right motor and the speed reducing mechanism (14) drive the right front and rear driving wheel set (9) to rotate;
the large seam rust removal wall-climbing robot for the hull wall surface further comprises an output chain wheel (15);
wherein, the left motor and the speed reducing mechanism (13) drive the chain wheel and the chain mechanism (2) of the left driving wheel set through an output chain wheel; the right motor and the speed reducing mechanism (14) drive the chain wheel and the chain mechanism (11) of the right driving wheel set through another output chain wheel;
the output chain wheel (15) and the left front driving wheel are in an up-and-down position relation, and the left front driving wheel and the left rear driving wheel are in a front-and-back position relation and are positioned at the same height;
the other output chain wheel (15) and the right front driving wheel are in an up-and-down position relationship, and the right front driving wheel and the right rear driving wheel are in a front-and-back position relationship and are positioned at the same height;
the left front driving wheel, the left rear driving wheel, the right front driving wheel and the right rear driving wheel are made of polyurethane or rubber.
2. The hull wall surface large seam rust removal wall-climbing robot is characterized in that the left front driving wheel and the left rear driving wheel are connected through a left driving wheel set chain wheel and chain mechanism (2); the left motor and speed reducing mechanism (13) drives the left front and rear driving wheel set (1) to rotate through the left driving wheel set chain wheel and chain mechanism (2);
the right front driving wheel and the right rear driving wheel are connected through a right driving wheel set chain wheel and chain mechanism (11); the left motor and speed reducing mechanism (13) drives the right front and rear driving wheel set (9) to rotate through the right driving wheel set chain wheel and chain mechanism (11).
3. The large seam rust removal wall-climbing robot for the hull wall surfaces as claimed in claim 1, characterized by further comprising a left driving wheel set bearing (5) and a right driving wheel bearing (12);
the left front and rear driving wheel set (1) is connected with one side surface of the robot body (3) through a left driving wheel set bearing (5); the right front and rear driving wheel set (9) is connected with the other side surface of the robot body (3) through a right driving wheel bearing (12).
4. The wall climbing robot for removing rust on large seams in hull walls as claimed in claim 2, characterized by further comprising a right tensioning wheel and adjusting mechanism (10) and a left tensioning wheel and adjusting mechanism (4);
the adjusting end of the left tensioning wheel and adjusting mechanism (4) is connected with one side surface of the robot body (3), and the tensioning wheel end of the left tensioning wheel and adjusting mechanism (4) is connected with the left driving wheel set chain wheel and chain mechanism (2) and is used for adjusting the tension of a chain in the left driving wheel set chain wheel and chain mechanism (2);
the adjusting end of the right tensioning wheel and adjusting mechanism (10) is connected with the other side face of the robot body (3), and the tensioning wheel end of the right tensioning wheel and adjusting mechanism (10) is connected with the right driving wheel set chain wheel chain mechanism (11) and used for adjusting the tension degree of a chain in the right driving wheel set chain wheel chain mechanism (11).
5. The hull wall surface large seam rust removal wall-climbing robot is characterized in that the front end and the rear end of the robot body (3) are respectively provided with a safety bolt, a safety frame, a video camera, a travel limit switch and a photoelectric proximity switch;
the travel limit switch is used for detecting the forward and backward safe distance of the robot body (3); the photoelectric proximity switch is used for detecting the contact distance between the robot body (3) and the wall surface of the ship body.
6. The hull wall surface large seam rust removal wall-climbing robot as claimed in claim 2, characterized by further comprising a travelling mechanism wheel cover;
the left front driving wheel, the left rear driving wheel and the left driving wheel set chain wheel and chain mechanism (2) are arranged on the inner side of a traveling mechanism wheel cover;
the right front driving wheel, the right rear driving wheel and the right driving wheel set chain wheel and chain mechanism (11) are arranged on the inner side of the wheel cover of the other travelling mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610532166.7A CN107585271B (en) | 2016-07-07 | 2016-07-07 | Big seam rust cleaning of hull wall climbing robot |
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| CN201610532166.7A CN107585271B (en) | 2016-07-07 | 2016-07-07 | Big seam rust cleaning of hull wall climbing robot |
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| CN107585271B true CN107585271B (en) | 2020-07-14 |
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| CN108177725B (en) * | 2018-01-28 | 2019-08-13 | 浙江大学 | A kind of ship ventilation damping device based on crawler type movement absorption |
| CN108945138B (en) * | 2018-05-11 | 2019-10-22 | 新沂市棋盘工业集中区建设发展有限公司 | A kind of wheeled double drive travelling platforms that robot uses |
| KR102184626B1 (en) * | 2018-07-16 | 2020-11-30 | 이석재 | Blast machine traveling device |
| CN109572837A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN110271654A (en) * | 2019-04-11 | 2019-09-24 | 邓冰冰 | A kind of hull bottom descaling machine |
| CN110027673B (en) * | 2019-04-16 | 2021-03-30 | 上海交通大学 | Self-adaptive traction wall-climbing robot for multifunctional processing of giant ship body |
| CN110550164B (en) * | 2019-09-17 | 2021-07-06 | 浙江海洋大学 | Automatic rust cleaning device for ship |
| CN111301544B (en) * | 2019-11-22 | 2023-11-21 | 广东省智能制造研究所 | Control system and control method of wall climbing robot with scanning function |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
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| CN101704241A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Wall-climbing robot for removing rust on wall surfaces of ships and working method thereof |
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