CN108016582A - A kind of endless track type cleaning robot and cleaning systems - Google Patents
A kind of endless track type cleaning robot and cleaning systems Download PDFInfo
- Publication number
- CN108016582A CN108016582A CN201711244234.0A CN201711244234A CN108016582A CN 108016582 A CN108016582 A CN 108016582A CN 201711244234 A CN201711244234 A CN 201711244234A CN 108016582 A CN108016582 A CN 108016582A
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- China
- Prior art keywords
- rack
- endless track
- track type
- crawler belt
- type cleaning
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of endless track type cleaning robot and cleaning systems, including rack, the cleaning mechanism being rotatably arranged in rack, it is oppositely arranged on two pedrail mechanisms of rack both sides, the driving mechanism being arranged in rack, control cleaning mechanism and the control device of driving mechanism, pedrail mechanism includes the sprocket wheel and driven wheel being arranged in rack, the crawler belt being set between sprocket wheel and driven wheel, it is multiple to be disposed on the support wheel for strutting tensioned tracks downwards in rack so that crawler belt is in inverted trapezoidal, it is separately positioned between rack and each support wheel to automatically adjust multiple adjusting mechanisms of track tension and multiple permanent magnets being disposed on the outside of crawler belt, driving mechanism drives the sprocket wheel of two pedrail mechanisms to rotate respectively, to drive caterpillar drive.The present invention can be firmly adsorbed on marine surface effectively to clean rust staining and debris, improve rust cleaning efficiency, reduce labor strength, avoid harmful harm of the working environment to human body.
Description
Technical field
The present invention relates to hull cleaning technology field, is more particularly, to a kind of endless track type cleaning robot and cleaning
System.
Background technology
Since vessel motion environment is serious to the extent of corrosion of hull, the marine surface of long-play can produce rust staining and
Adhere to the debris such as shell.To ensure the security of vessel motion, it is necessary to periodically ship is cleaned to remove rust staining and debris.
At present, ship cleaning is main use manual type, but since rust staining is not easily cleaned with the debris for being attached to marine surface, Gong Rengong
Make intensity height, and cleaning efficiency is low, and the airborne dust being harmful to worker's health occurs during removing rust staining, furthermore, it is right
For large vessel, hull is higher, deck out-of-flatness, and there are certain danger in cleaning by worker.
The content of the invention
It is an object of the invention to provide a kind of endless track type cleaning robot and cleaning systems, to solve in the prior art
The existing technical problem low and dangerous using manual type clean ship efficiency.
A kind of endless track type cleaning robot provided by the invention, including rack, the cleaning that is rotatably arranged in rack
Mechanism, two pedrail mechanisms for being oppositely arranged on rack both sides, the driving mechanism being arranged in rack, control cleaning mechanism and driving
The control device of mechanism, pedrail mechanism include the sprocket wheel being arranged in rack and driven wheel, are set between sprocket wheel and driven wheel
Crawler belt, it is multiple be disposed on strut tensioned tracks downwards in rack so that crawler belt in inverted trapezoidal support wheel, set respectively
To automatically adjust multiple adjusting mechanisms of track tension and multiple be disposed on outside crawler belt between rack and each support wheel
The permanent magnet of side, driving mechanism drives the sprocket wheel of two pedrail mechanisms to rotate respectively, to drive caterpillar drive.
Further, in an embodiment of the present invention, the adjusting mechanism includes being rotatably arranged in institute by shaft
" L " type connecting plate, the spring being arranged between connecting plate upper end and the rack in rack are stated, the support wheel is arranged on company
Fishplate bar lower end.
Further, in an embodiment of the present invention, what the cleaning mechanism included being arranged in the rack is first perpendicular
Plate, lower end and the hinged fixed plate of starting stave, the spray-painting plant for being fixed on along the rack length direction dead plate upper end and
Or the giant of adjustable water outlet intensity, spray-painting plant and or giant front end tilt down arrangement.
Further, in an embodiment of the present invention, the rack includes transverse slat, is disposed on the two the of transverse slat both sides
Two risers, the starting stave are fixed on transverse slat front end, and two pedrail mechanisms are separately positioned on two second risers.
Further, in an embodiment of the present invention, the driving mechanism includes being separately positioned on two second risers
The motor of rear end, two shaft couplings being separately positioned between two motor output ends and two sprocket wheels.
Further, in an embodiment of the present invention, there is the double wedge with the sprocket engagement on the inside of the crawler belt, it is described
Support wheel includes two cinctures that relative spacing is set and the connecting shaft being arranged between two cinctures, and double wedge is between two cinctures.
Further, in an embodiment of the present invention, the permanent magnet is arranged on the outside of the crawler belt by bolt.
Further, in an embodiment of the present invention, the permanent magnet is Fe-Nd-B magnet.
Further, in an embodiment of the present invention, the control device include respectively with the cleaning device and driving
The remote controler of device wireless connection.
Present invention also offers a kind of cleaning systems, including endless track type cleaning robot described above.
The present invention has the advantages that：
The present invention drives crawler belt by being arranged on the permanent magnet absorption on the outside of crawler belt in marine surface, and by driving mechanism
Mechanism kinematic, to drive endless track type cleaning robot to be moved in itself in marine surface, during movement, by cleaner
The control of structure, is carried out comprehensively effectively cleaning to the rust staining and debris of marine surface to be realized using cleaning mechanism, improves derusting effect
Rate, reduce labor strength, avoid harmful harm of the working environment to human body.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the stereogram of endless track type cleaning robot provided by one embodiment of the present invention；
Fig. 2 is the front view of endless track type cleaning robot provided by one embodiment of the present invention；
Fig. 3 is the side view of endless track type cleaning robot provided by one embodiment of the present invention；
Fig. 4 is the top view of endless track type cleaning robot provided by one embodiment of the present invention.
Reference numeral：
1- racks；2- cleaning mechanisms；3- pedrail mechanisms；4- driving mechanisms；
11- transverse slats；The second risers of 12-；
21- starting staves；22- fixed plates；23- anchor ears；24- giants；
31- sprocket wheels；32- driven wheels；33- crawler belts；
34- support wheels；35- permanent magnets；36- adjusting mechanisms；
37- bolts；38- double wedges；39- cinctures；
361- shafts；362- connecting plates；363- springs；
41- motors；42- shaft couplings.
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Easy to describe the present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Fig. 1 is the stereogram of endless track type cleaning robot provided by one embodiment of the present invention；Fig. 2 is a reality of the invention
The front view of the endless track type cleaning robot of example offer is provided；Fig. 3 is endless track type cleaning machine provided by one embodiment of the present invention
The side view of people；Fig. 4 is the top view of endless track type cleaning robot provided by one embodiment of the present invention.As shown in Figs 1-4, originally
Embodiment provide a kind of endless track type cleaning robot, including rack 1, be rotatably arranged in rack 1 cleaning mechanism 2,
Two pedrail mechanisms 3 for being oppositely arranged on 1 both sides of rack, the driving mechanism 4 being arranged in rack 1, control cleaning mechanism 2 and driving
The control device of mechanism 4, pedrail mechanism 3 include the sprocket wheel 31 that is arranged in rack 1 and driven wheel 32, be set in sprocket wheel 31 with from
Crawler belt 33, multiple be disposed in rack 1 between driving wheel 32 strut downwards tensioned tracks 33 so that crawler belt 33 is in inverted trapezoidal
Support wheel 34, be separately positioned between rack 1 and each support wheel 34 to automatically adjust multiple adjusting machines of 33 rate of tension of crawler belt
Structure 36 and multiple permanent magnets 35 for being disposed on the outside of crawler belt 33, driving mechanism 4 drive the sprocket wheel 31 of two pedrail mechanisms 3 respectively
Rotate, to drive crawler belt 33 to move.
Wherein, since the outside of crawler belt 33 is provided with permanent magnet 35, it is possible to inhaled using 35 magnetic force of permanent magnet
The surface of hull is attached to, like this, when driving mechanism 4 drives crawler belt 33 to rotate, it is possible to drive endless track type cleaning
The overall apparent motion in hull of robot.
By the traffic direction and speed that control endless track type cleaning robot, you can so that endless track type cleaning robot motion
To the position specified, clean work is carried out to the surface of hull using cleaning mechanism 2 in specified position.
As shown in Figs 1-4, the pedrail mechanism 3 can set two, two pedrail mechanisms 3 is separately positioned on rack 1
Both sides, pass through the control to two pedrail mechanisms 3, you can complete to endless track type cleaning robot traffic direction and speed control
System, and can also ensure that endless track type cleaning robot is run steady by two pedrail mechanisms 3.
In addition, the relative motion by two pedrail mechanisms 3, additionally it is possible to complete the behaviour to turn to endless track type cleaning robot
Make, specifically, the crawler belt 33 of two pedrail mechanisms 3 can be made to run at different rates, in the crawler belt 33 of two pedrail mechanisms 3
Between form speed difference, by this speed difference can complete to endless track type cleaning robot turn operation.
For example, by endless track type cleaning robot towards exemplified by front, 33 speed of crawler belt of right side track mechanism 3 is less than left side
33 speed of crawler belt of pedrail mechanism 3, endless track type cleaning robot will turn right；Similarly, 33 speed of crawler belt of left track mechanism 3
Less than 33 speed of crawler belt of right side track mechanism 3, endless track type cleaning robot will turn left.
In addition, multiple be disposed on the support for strutting tensioned tracks 33 downwards in rack 1 so that crawler belt 33 is in inverted trapezoidal
Wheel 34 can be such that whole crawler belt 33 is run with the structure of inverted trapezoidal, and endless track type cleaning robot can so transported in hull surface
Marine surface larger barrier is crossed during row.
Also, it is separately positioned between rack 1 and each support wheel 34 to automatically adjust multiple adjustings of 33 rate of tension of crawler belt
Mechanism 36 can automatically adjust 33 rate of tension of crawler belt, and further, in an embodiment of the present invention, the adjusting mechanism 36 includes logical
Cross " L " type connecting plate 362 that shaft 361 is rotatably arranged in the rack 1, be arranged on 362 upper end of connecting plate with it is described
Spring 363 between rack 1, the support wheel 34 are arranged on 362 lower end of connecting plate.
Specifically, when running into raised or depression, support wheel 34, which deviates, is currently located plane, drives 362 turns of connecting plate
Dynamic, the spring 363 being arranged between 362 upper end of connecting plate and rack 1 deforms upon under the influence of connecting plate 362, works as support wheel
After 34 by raised or depression, spring 363 resets, and promotes connecting plate 362 to rotate and resets, and then support wheel 34 is recovered to original
There is plane.
Therefore, 33 equal energy of crawler belt can be made for the marine surface of various different situations by the adjusting mechanism 36
It is firmly adsorbed on above, avoids the occurrence of and adsorbed loosely and the in the case of of dropping for some special surface crawler belts 33, ensures cleaning
Efficiency and effect.
Further, in an embodiment of the present invention, the cleaning mechanism 2 includes first be arranged in the rack 1
Riser 21, lower end and the hinged fixed plate 22 of starting stave 21, along 1 length direction of rack be fixed on 22 upper end of fixed plate
Spray-painting plant and or adjustable water outlet intensity giant 24, spray-painting plant and or 24 front end of giant tilt down cloth
Put.
Wherein, the positional structure of the spray-painting plant refers to the positional structure of the giant 24 in Fig. 1-4, is
Say, the cleaning mechanism 2 can be connected with giant 24 by starting stave 21 and fixed plate 22, pass through giant
24 carry out the operation such as derusting to hull surface, cleaning, can also be connected with spray by starting stave 21 and fixed plate 22
Device is painted, the spray painting work to hull surface is completed using spray-painting plant.
In addition, except the spray-painting plant and or giant 24, the endless track type cleaning robot of the application can also lead to
Cross starting stave 21 and fixed plate 22 is flexibly connected the equipment that other needs work on hull, to utilize endless track type cleaning
Robot automatically completes the work that can be carried out on hull, reduces labour.
In addition to this it is possible to realize the removal to rust staining using air gun, air gun is passed through into starting stave 21 and fixed plate
22 are flexibly connected, and after reaching derusting position, can control air gun switch and air pressure, high pressure air rifle is sprayed high pressure in trolley afterbody
Air-flow, high pressure draught force iron rust and marine growth to peel off hull, complete descaling process.
Wherein, derusting by sandblasting is to use compressed air as power, to form high velocity spray beam by material spray (pomegranate stone sand, copper
Ore in sand form, diamond dust, iron sand, SEMEN AMOMI LONGILIGULA) workpiece surface to be treated is ejected at a high speed, make the appearance of the outer surface of workpiece surface
Or shape changes, so as to reach derusting purpose.
Further, in an embodiment of the present invention, the rack 1 includes transverse slat 11, is disposed on 11 both sides of transverse slat
Two second risers 12, the starting stave 21 is fixed on 11 front end of transverse slat, and two pedrail mechanisms 3 are separately positioned on two second
On riser 12.
The rack 1 formed by transverse slat 11 and two second riser 12, its is simple in structure and what can be stablized plays support
Effect, at the same it is light-weight, contribute to endless track type cleaning robot to be moved on hull.
Further, in an embodiment of the present invention, the driving mechanism 4 includes being separately positioned on two second risers
The motor 41 of 12 rear ends, two shaft couplings 42 being separately positioned between two motors, 41 output terminal and two sprocket wheels 31.
By 41 drive sprocket 31 of motor, and connected using shaft coupling 42 steady when can rotating 41 output terminal of motor
Fixed is driven sprocket wheel 31, ensures the stability that endless track type cleaning robot moves on hull.
Further, in an embodiment of the present invention, the inner side of crawler belt 33 has the double wedge engaged with the sprocket wheel 31
38, the support wheel 34 includes two cinctures 39 that relative spacing is set and the connecting shaft being arranged between two cinctures 39, double wedge 38
Between two cinctures 39.
It can be coordinated using sprocket wheel 31 with the double wedge 38 of crawler belt 33, so both by sprocket wheel 31 crawler belt 33 can be driven to transport
Dynamic, also, support wheel 34 can play the support to 33 other parts of crawler belt, the support wheel 34 being made up of two cinctures 39 is not
Obstacle can occur with the double wedge 38 on crawler belt 33, and support can also be played the role of, the gap between two cinctures 39 can
Effectively to escape the double wedge 38 on crawler belt 33.
Further, in an embodiment of the present invention, the permanent magnet 35 is arranged on outside the crawler belt 33 by bolt 37
Side.
The assembly or disassembly of permanent magnet 35 can be facilitated by 37 fixing permanent magnet 35 of bolt.
Further, in an embodiment of the present invention, the permanent magnet 35 is Fe-Nd-B magnet.
Further, in an embodiment of the present invention, the control device include respectively with the cleaning device and driving
The remote controler of device wireless connection.
It is selectable to use WiFi module, the direction of travel and speed of remote control control trolley are utilized within the scope of
(stablizing remote control distance at present up to 100m), reaches required derusting position.
So in one embodiment, the walking of endless track type cleaning robot relies on remote controller operation.Remote controler and crawler belt
Formula clean robot is connected by WiFi.In endless track type cleaning robot integrate WiFi module, after startup can with remote controler or
Corresponding cell phone application control interface is connected directly.
The instruction of receiving is sent back the microcontroller of control device by WiFi module, and microcontroller is controlled according to control instruction and driven
The motor 41 of mechanism 4 operates.
In addition, selectable, 41 end of motor may be provided with photoelectric code disk, for monitoring the rotating speed of motor 41 in real time,
And speed feedback signal is realized the closed-loop control of 41 rotating speed of motor, make endless track type cleaning robot in irony ship to microcontroller
Accurately walk according to certain speed on body, make cleaning process reliable and stable.
Wherein, microcontroller can use STM32 microcontrollers.Motor 41 can use servomotor 41.
In conclusion as shown in Fig. 1 to 4 figures, endless track type cleaning robot includes rack 1, cleaning mechanism 2, two tracked machines
Structure 3, driving mechanism 4, control device (being not drawn into figure), cleaning mechanism 2 are rotatably arranged in rack 1, two pedrail mechanisms 3
1 both sides of rack are oppositely arranged on, driving mechanism 4 is arranged in rack 1, and control device is used to control cleaning mechanism 2 and driving machine
Structure 4 acts.Rack 1 includes transverse slat 11, is disposed on two second risers 12 of 11 both sides of transverse slat, and cleaning mechanism 2 is arranged on horizontal stroke
11 front end of plate, two pedrail mechanisms 3 are separately positioned on two second risers 12, and driving mechanism 4 is arranged on 12 rear end of the second riser.
Starting stave 21, lower end and 21 upper end of starting stave that cleaning mechanism 2 includes being arranged on 11 front end of transverse slat are hinged
Fixed plate 22, the anchor ear 23 for being arranged on 22 upper end of fixed plate, the giant 24 for being arranged on by anchor ear 23 22 upper end of fixed plate,
Giant 24 adjusts water outlet intensity, and arrangement is tilted down along 11 length direction of transverse slat and front end.
Pedrail mechanism 3 includes being arranged on the sprocket wheel 31 of 12 rear end of the second riser, is arranged on the driven of 12 front end of the second riser
Wheel 32,33, four, crawler belt being set between sprocket wheel 31 and driven wheel 32, which are disposed on the second riser 12 to strut downwards, to be opened
Tight crawler belt 33 so that crawler belt 33 in inverted trapezoidal support wheel 34, be separately positioned between the second riser 12 and each support wheel 34 with
Automatic adjustment crawler belt 33 opens four adjusting mechanisms 36 of progress and multiple is disposed on the outside of crawler belt 33 forever by bolt 37
Magnet 35, " L " type connecting plate 362 that adjusting mechanism 36 includes being rotatably arranged on the second riser 12 by shaft 361, set
The spring 363 between 362 upper end of connecting plate and the second riser 12 is put, support wheel 34 is arranged on 362 lower end of connecting plate；Crawler belt 33
Inner side has the double wedge 38 engaged with sprocket wheel 31, and support wheel 34 includes two cinctures 39 of relative spacing setting and is arranged on two cinctures
Connecting shaft between 39, double wedge 38 is between two cinctures 39.
Driving mechanism 4 includes being separately positioned on two motors 41 of two second risers, 12 rear end, is separately positioned on two motors 41
Two shaft couplings 42 between output terminal and two sprocket wheels 31, motor 41 is rotated by 42 drive sprocket 31 of shaft coupling, to drive crawler belt
33 movements, control robot to turn by the speed difference for controlling two motors 41 to export.
In the present embodiment, permanent magnet 35 is Fe-Nd-B magnet.Control device include respectively with giant 24 and motor
The remote controler of 41 wireless connections.
Present invention also offers a kind of cleaning systems, including endless track type cleaning robot described above.
Since concrete structure, the principle of work and power and the technique effect of the endless track type cleaning robot are in detailed hereinbefore,
Just repeat no more herein.
So any technology contents for being related to the endless track type cleaning robot refer to record above.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of endless track type cleaning robot, it is characterised in that including rack, the cleaner being rotatably arranged in rack
Structure, two pedrail mechanisms for being oppositely arranged on rack both sides, the driving mechanism being arranged in rack, control cleaning mechanism and driving machine
The control device of structure, pedrail mechanism include the sprocket wheel being arranged in rack and driven wheel, are set between sprocket wheel and driven wheel
Crawler belt, multiple be disposed on strut tensioned tracks so that crawler belt is in the support wheel of inverted trapezoidal, is separately positioned on downwards in rack
To automatically adjust multiple adjusting mechanisms of track tension and multiple be disposed on the outside of crawler belt between rack and each support wheel
Permanent magnet, driving mechanism drives the sprocket wheel of two pedrail mechanisms to rotate respectively, to drive caterpillar drive.
2. a kind of endless track type cleaning robot according to claim 1, it is characterised in that the adjusting mechanism includes passing through
Shaft is rotatably arranged in " L " type connecting plate, the bullet being arranged between connecting plate upper end and the rack in the rack
Spring, the support wheel are arranged on connecting plate lower end.
A kind of 3. endless track type cleaning robot according to claim 2, it is characterised in that：The cleaning mechanism includes setting
The hinged fixed plate of starting stave, lower end and starting stave in the rack, be fixed on along the rack length direction
The spray-painting plant of fixed board upper end and or adjustable water outlet intensity giant, spray-painting plant and or giant front end it is downward
It is in tilted layout.
A kind of 4. endless track type cleaning robot according to claim 3, it is characterised in that：The rack include transverse slat,
Every two second risers for being arranged on transverse slat both sides, the starting stave is fixed on transverse slat front end, and two pedrail mechanisms are set respectively
Put on two second risers.
A kind of 5. endless track type cleaning robot according to claim 4, it is characterised in that：The driving mechanism includes difference
It is arranged on motor, two shaft couplings being separately positioned between two motor output ends and two sprocket wheels of the two second riser rear ends
Device.
6. according to a kind of any endless track type cleaning robots of claim 1-5, it is characterised in that：Tool on the inside of the crawler belt
There is the double wedge with the sprocket engagement, the support wheel includes two cinctures of relative spacing setting and is arranged between two cinctures
Connecting shaft, double wedge is between two cinctures.
7. according to a kind of any endless track type cleaning robots of claim 1-5, it is characterised in that：The permanent magnet passes through
Bolt is arranged on the outside of the crawler belt.
8. according to a kind of any endless track type cleaning robots of claim 1-5, it is characterised in that：The permanent magnet is iron
Neodymium boron magnets.
9. according to a kind of any endless track type cleaning robots of claim 1-5, it is characterised in that：The control device bag
Include respectively with the cleaning device and the remote controler of driving device wireless connection.
10. a kind of cleaning systems, it is characterised in that including endless track type cleaning machine as claimed in any one of claims 1-9 wherein
People.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017212180748 | 2017-09-21 | ||
| CN201721218074 | 2017-09-21 |
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| Publication Number | Publication Date |
|---|---|
| CN108016582A true CN108016582A (en) | 2018-05-11 |
Family
ID=62077840
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|---|---|---|---|
| CN201711244234.0A Pending CN108016582A (en) | 2017-09-21 | 2017-11-30 | A kind of endless track type cleaning robot and cleaning systems |
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| CN109178240A (en) * | 2018-08-21 | 2019-01-11 | 中国船舶重工集团公司第七〇九研究所 | A kind of submarine mechanical formula sewage disposal apparatus |
| CN109263738A (en) * | 2018-10-12 | 2019-01-25 | 广州国机智能电力科技有限公司 | A kind of substation inspection vehicle |
| CN110182333A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning equipment |
| CN110254541A (en) * | 2019-06-27 | 2019-09-20 | 广船国际有限公司 | A kind of design method of permanent magnetism crawler belt, permanent magnetism crawler belt and climbing robot |
| CN110525583A (en) * | 2019-08-23 | 2019-12-03 | 江苏科技大学 | A kind of multi-functional hull maintenance cart |
| CN111776099A (en) * | 2020-07-23 | 2020-10-16 | 林美娟 | Safe anti-skidding industrial chemicals transport robot |
| CN111791964A (en) * | 2020-07-23 | 2020-10-20 | 林美娟 | Anti-skidding robot is used in industrial chemicals transportation |
| CN112572717A (en) * | 2020-12-17 | 2021-03-30 | 韩洋 | Automatic removing device for ship biofouling |
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