CN109466723A - A kind of climbing robot for marine surface cleaning derusting - Google Patents
A kind of climbing robot for marine surface cleaning derusting Download PDFInfo
- Publication number
- CN109466723A CN109466723A CN201910003491.8A CN201910003491A CN109466723A CN 109466723 A CN109466723 A CN 109466723A CN 201910003491 A CN201910003491 A CN 201910003491A CN 109466723 A CN109466723 A CN 109466723A
- Authority
- CN
- China
- Prior art keywords
- fuselage
- sandblasting
- taper
- surface cleaning
- sanding machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
Abstract
A kind of climbing robot for marine surface cleaning derusting, including fuselage, retarder, walking mechanism, alternating current generator, taper sanding machine, servo motor, disc brush mechanism, Front camera, upper cover, rotary shaft, tension spring and channel steel.Its advantage is that: disc brush is integrated into robot by the present invention, and postposition can be with the taper sanding machine of fixed angle reciprocally swinging.By the way that disc brush mechanism is integrated into magnetic adsorption type robot front end, rust certain on hull attachment and surface can be cleared up in the process of walking, better operating condition is created for magnetic adsorption type robot, is conducive to the better derusting by sandblasting of taper sanding machine of magnetic adsorption type robot rear end.The adjustable height of taper sanding machine of the fixed angle reciprocally swinging of postposition contacts it preferably with steel plate, wide-angle reciprocally swinging may be implemented in taper sanding machine, to ensure that the working area of derusting by sandblasting, and then substantially increase the degree of automation and working efficiency.
Description
Technical field
It is specifically a kind of with preposition the present invention relates to a kind of climbing robot for marine surface cleaning derusting
The magnetic adsorption type swing arm derusting by sandblasting climbing robot of disc brush mechanism.
Background technique
Along with flourishing for marine economy, shipbuilding industry is increasingly taken seriously.But since long-time is in ocean
Navigation, causes various small-sized aquatic organisms, plant attaching in hull surface, such as seaweed, oyster etc..These attachments and seawater
Hull will be corroded, form one layer of corrosion layer on Ship Structure surface over time, and then influence the use longevity of ship
Life.Therefore marine surface cleaning derusting and spray painting maintenance be a regular job, this work it is not only time-consuming and laborious but also
Danger coefficient is big.Present marine surface cleaning derusting majority is all manual operation, manual cleaning attachment and rust cleaning efficiency ratio
Lower and working environment is severe, and very big influence is caused to the body of people.
Summary of the invention
In view of the above-mentioned deficiencies, the present invention provides a kind of climbing robot for marine surface cleaning derusting, purposes
It is to improve the working efficiency of marine surface cleaning and derusting operation, improves the degree of automation of marine surface cleaning and derusting.
The present invention is achieved by the following technical solutions: a kind of climbing robot for marine surface cleaning derusting,
Including fuselage, retarder, walking mechanism, alternating current generator, taper sanding machine, servo motor, disc brush mechanism, Front camera, on
Lid, rotary shaft, tension spring and channel steel, there are two the retarders, is separately mounted at left and right sides of fuselage interior, the walking
There are two mechanisms, is distributed at left and right sides of fuselage, and there are two the alternating current generators, is separately mounted at left and right sides of fuselage interior,
Axis connection reducer input shaft is exported, the taper sanding machine is mounted on fuselage rear, and the servo motor is mounted in fuselage
Rear end, the disc brush mechanism are mounted on front fuselage, and the Front camera is mounted in front of fuselage, and the upper cover passes through interior six
Angle screw is fastened on body upper, and the rotary shaft is connected with servo motor output shaft screw thread and can adjust height up and down and use spiral shell
Mother is fixed, and the tension spring is connected on channel steel, and the channel steel is connected with rotary shaft.
In a kind of climbing robot for marine surface cleaning derusting above-mentioned, the walking mechanism includes chain magnetic
Iron, chain, sprocket wheel, non-slip rubber block, tensioning steamboat, tensioning flower basket bolt and damping spring, the sprocket wheel has eight, each
In walking mechanism, before two sprocket wheels be drive sprocket, behind two sprocket wheels be driven sprocket, the chain has four, installation
On sprocket wheel, the chain bar magnet has several, is separately fixed on chain link by screw, the non-slip rubber block have it is several, often
A chain bar magnet two sides respectively install one, and there are four the tensioning steamboats, installation one, the tensioning gaily decorated basket on the inside of every chain
There are two bolts, and each bolt one end connects fuselage, and the other end connects two tensioning steamboats, and the damping device has two sets, often
It is a set of to be made of two groups of springs, it is respectively installed in each walking mechanism a set of.
In a kind of climbing robot for marine surface cleaning derusting above-mentioned, the taper sanding machine includes sandblasting
Pipe, nozzle, taper sandblasting cover, sealing hairbrush and sandblasting recovery tube, the blast tube is drawn by ground high-pressure sand blast equipment to be passed through
Groove inside channel steel is connected with nozzle, and the nozzle is connected with taper sandblasting cover, and the taper sandblasting cover connects with hull plate
Touching forms sealing space, and the sealing hairbrush is close to steel plate, it is therefore intended that guarantees that sandblasting procedures are in air-tight state, preferably
It contacts taper sandblasting cover with steel plate and the groove and ground inside channel steel can be passed through with bumper and absorbing shock, the sandblasting recovery tube
Sandblasting reclaimer is connected, for recycling iron rust and iron sand in taper sandblasting cover.
In a kind of climbing robot for marine surface cleaning derusting above-mentioned, the disc brush mechanism includes motor, T
Template and disk, the motor are bolted to above T-type plate by four, and the T-type plate passes through two bolts and damper
It is fixed on immediately ahead of fuselage, the hole that the disk passes through respectively on T-type plate is connected with motor output shaft, and disc surfaces are by steel wire group
At.
The invention has the beneficial effect that compared with prior art, disc brush is integrated into robot by the present invention, postposition
It can be with the taper sanding machine of fixed angle reciprocally swinging.In the descaling process of magnetic adsorption type robot, since hull surface has
Many attachments leverage the operating condition of magnetic adsorption type robot, are unfavorable for magnetic adsorption type robot and preferably adsorb
On hull, and the ocean attachment of hull surface is unfavorable for the derusting operation of robot.By the way that disc brush mechanism is integrated
To magnetic adsorption type robot front end, rust certain on hull attachment and surface can be cleared up in the process of walking, be magnetic
Absorption type robot creates better operating condition, is conducive to the better sandblasting of taper sanding machine of magnetic adsorption type robot rear end
Derusting.The adjustable height of taper sanding machine of the fixed angle reciprocally swinging of postposition contacts it preferably with steel plate, taper
Wide-angle reciprocally swinging may be implemented in sanding machine, to ensure that the working area of derusting by sandblasting, and then substantially increases automatic
Change degree and working efficiency.Blast tube and sandblasting recovery tube are connected by the groove of channel steel bottom with ground high-pressure sand blast equipment,
The iron rust generated in sandblasting procedures and iron sand can be recycled in time and is used, so that descaling process is more saved and environmental protection.
Detailed description of the invention
Attached drawing 1 is general structure schematic diagram of the invention；
Attached drawing 2 is the external structure and walking mechanism schematic diagram of Fig. 1 of the present invention；
Attached drawing 3 is the taper sanding machine structural schematic diagram of Fig. 1 of the present invention；
Attached drawing 4 is the disc brush mechanism structure schematic diagram of Fig. 1 of the present invention.
In figure, 1, fuselage, 2, retarder, 3, walking mechanism, 301, chain bar magnet, 302, chain, 303, sprocket wheel, 304, anti-
Sliding rubber block, 305, tensioning steamboat, 306, tensioning flower basket bolt, 307, damping device, 4, alternating current generator, 5, taper sanding machine,
501, blast tube, 502, nozzle, 503, taper sandblasting cover, 504, sealing hairbrush, 505, sandblasting recovery tube, 6, servo motor, 7,
Disc brush mechanism, 701, motor, 702, T-type plate, 703, disk, 8, Front camera, 9, upper cover, 10, rotary shaft, 11, pulling force bullet
Spring, 12, channel steel.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: a kind of wall-climbing device for marine surface cleaning derusting
People, including it is fuselage 1, retarder 2, walking mechanism 3, alternating current generator 4, taper sanding machine 5, servo motor 6, disc brush mechanism 7, preceding
Camera 8, upper cover 9, rotary shaft 10, tension spring 11 and channel steel 12 are set, there are two the retarders 2, is separately mounted in fuselage 1
At left and right sides of portion, there are two the walking mechanisms 3, is distributed in 1 left side of fuselage and right side, there are two the alternating current generators 4, respectively
It is mounted on the 1 inside left and right sides of fuselage, 2 input shaft of axis connection retarder is exported, after the taper sanding machine 5 is mounted on fuselage 1
Side, the servo motor 6 are mounted on rear end in fuselage 1, and the disc brush mechanism 7 is mounted on 1 front end of fuselage, the Front camera
8 are mounted on 1 front of fuselage, and the upper cover 9 is fastened on 1 top of fuselage, the rotary shaft 10 and servo electricity by soket head cap screw
The output axle thread of machine 6 is connected and can adjust height up and down and be secured with nuts, and the tension spring 11 is connected on channel steel 12,
The channel steel 12 is connected with rotary shaft 10.
Referring to Fig. 2, in a kind of climbing robot for marine surface cleaning derusting above-mentioned, the walking mechanism 3
Including chain bar magnet 301, chain 302, sprocket wheel 303, non-slip rubber block 304, tensioning steamboat 305, tensioning flower basket bolt 306 and subtract
Shake device 307, the sprocket wheel 303 has eight, in each walking mechanism 3, before two sprocket wheels 303 be drive sprocket 303, after
Even sprocket wheel 303 is driven sprocket 303 in face, and the chain 302 has four, is mounted on sprocket wheel 303, the chain bar magnet 301
Have several, be separately fixed on chain link by screw, the non-slip rubber block 304 has several, and each 301 two sides of chain bar magnet are each
Installation one, there are four the tensioning steamboats 305, one is installed on the inside of every chain 302, the tensioning flower basket bolt 306 has
Two, each bolt one end connects fuselage 1, and the other end connects two tensioning steamboats 305, and the damping device 307 has two sets, often
It is a set of to be made of two groups of springs, it is respectively installed in each walking mechanism 3 a set of.
Referring to Fig. 3, in a kind of climbing robot for marine surface cleaning derusting above-mentioned, the taper sanding machine
5 include blast tube 501, nozzle 502, taper sandblasting cover 503, sealing hairbrush 504 and sandblasting recovery tube 505, the blast tube 501
It is drawn by ground high-pressure sand blast equipment and is connected by the groove inside channel steel 12 with nozzle 502, the nozzle 502 and taper sandblasting
Cover 503 is connected, and the taper sandblasting cover 503 contacts to form sealing space with hull plate, and the sealing hairbrush 504 is tight with steel plate
Patch, it is therefore intended that guarantee that sandblasting procedures are in air-tight state, contact taper sandblasting cover 503 with steel plate and can delay
Shake is eaten up part of, the sandblasting recovery tube 505 is connected by the groove inside channel steel 12 with ground sandblasting reclaimer, is used for recession cone
Iron rust and iron sand in shape sandblasting cover 503.
Referring to Fig. 4, in a kind of climbing robot for marine surface cleaning derusting above-mentioned, the disc brush mechanism
7 include motor 701, T-type plate 702, disk 703, and the motor 701 is fixed on above T-type plate by four bolts, the T-type
Plate is fixed on immediately ahead of fuselage by two bolts and damper, and the disk 703 passes through hole and motor 701 on T-type plate 702
On output shaft be connected.
Working principle: when robot carries out marine surface cleaning derusting work, robot passes through walking mechanism 3 tightly
It is adsorbed on hull surface.Start alternating current generator 4, power increases square by the reduction of speed of retarder 2 from motor 4 and is transmitted to 303 He of sprocket wheel
Chain 302, so that robot advances.Disk 703 in preposition disc brush mechanism 7, robot passes through the Kong Yu electricity of T-type plate 702
The output shaft of machine 701 is connected, and starting 701 rear disk 703 of motor starts to rotate, and the steel wire on disk 703 connects with hull surface
Touching, motor 4 works on that robot is pushed to push ahead at this time, then is located at hull attachment and part in front of robot
Iron rust is all removed.There is damper to be connected in disc brush mechanism 7 with fuselage 1 so that disk 703 more stably with ship surface
Face contact.
Start servo motor 6, taper sanding machine 5 is connected according to fixed angle reciprocally swinging with ground high-pressure sand blast equipment
Blast tube 501 derusting by sandblasting in the sealing space inside taper sandblasting cover 503, while tapered injection are started by nozzle 502
Iron rust and iron sand inside sand cover 503 are transported to the separator on ground by sandblasting recovery tube 505 and carry out recycling separation again
It utilizes, thus more saving and environmental protection.
Rotary shaft 10 is threadedly coupled with 6 output shaft of servo motor and is adjustable height, and is secured with nuts, so as to adjust
For pitch cone shape sanding machine 5 at a distance from hull surface, tension spring 11 can guarantee that taper sanding machine 5 and hull surface are more steady
Contact, sealing hairbrush 504 makes to form sealing space between taper sandblasting cover 503 and steel plate, while having the work of bumper and absorbing shock
With.
Front camera 8 can monitor the road conditions and working condition of robot front end, two alternating currents in robot in real time
Machine 4 carries out rotating forward and not turning respectively, and robot may be implemented to turn, in the process the disc brush mechanism 7 in robot front end
It is responsible for clearing up the attachment and certain iron rust of marine surface, and the taper sanding machine 5 that the fixed angle of robot rear end is swung
Realize derusting by sandblasting, and so on movement can clean out hull iron rust, to improve the degree of automation and working efficiency.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (7)
1. it is a kind of for marine surface cleaning derusting climbing robot, including fuselage (1), retarder (2), walking mechanism (3),
Alternating current generator (4), taper sanding machine (5), servo motor (6), disc brush mechanism (7), Front camera (8), upper cover (9), rotation
Axis (10), tension spring (11) and channel steel (12), it is characterised in that: the retarder (2), alternating current generator (4) are installed in institute
It is internal to state fuselage (1), and the alternating current generator (4) exports axis connection retarder (2) input shaft, the walking mechanism (3) sets
The outside in the fuselage (1) is set, the taper sanding machine (5) is mounted on fuselage (1) rear, servo motor (6) installation
The rear end in fuselage (1), the disc brush mechanism (7) are mounted on fuselage (1) front end, and the Front camera (8) is mounted on fuselage
(1) front, the upper cover (9) are movably connected above the fuselage (1), the rotary shaft (10) and servo motor (6)
The movable connection of output shaft, the tension spring (11) are connected on channel steel (12), the channel steel (12) and rotary shaft (10) phase
Even.
2. a kind of climbing robot for marine surface cleaning derusting according to claim 1, it is characterised in that: described
Walking mechanism (3) includes chain bar magnet (301), chain (302), sprocket wheel (303), non-slip rubber block (304), tensioning steamboat
(305), it is tensioned flower basket bolt (306) and damping device (307), the sprocket wheel (303) has eight, in each walking mechanism (3),
The sprocket wheel (303) of front two is drive sprocket (303), behind to connect sprocket wheel (303) be driven sprocket (303), the chain
(302) there are four, be mounted on sprocket wheel (303), the chain bar magnet (301) has several, is separately fixed at chain link by screw
On, the non-slip rubber block (304) has several, and each chain bar magnet (301) two sides respectively install one, the tensioning steamboat
(305) there are four, installation one on the inside of every chain (302), there are two the tensioning flower basket bolts (306), each bolt one
End connection fuselage (1), the other end connect two tensioning steamboats (305), and the damping device (307) has two sets, and every suit is by two
Group spring is constituted, and is respectively installed in each walking mechanism (3) a set of.
3. a kind of climbing robot for marine surface cleaning derusting according to claim 1, it is characterised in that: described
Taper sanding machine (5) includes that blast tube (501), nozzle (502), taper sandblasting cover (503), sealing hairbrush (504) and sandblasting are returned
Closed tube (505), the blast tube (501) are drawn the groove and nozzle internal by channel steel (12) by ground high-pressure sand blast equipment
(502) it is connected, the nozzle (502) is connected with taper sandblasting cover (503), and the taper sandblasting cover (503) connects with hull plate
Touching forms sealing space, and the sealing hairbrush (504) is close to steel plate, it is ensured that sandblasting procedures are in air-tight state, preferably make
Taper sandblasting cover (503) contacts with steel plate and can be with bumper and absorbing shock, and the sandblasting recovery tube (505) is internal by channel steel (12)
Groove be connected with ground sandblasting reclaimer, for recycling iron rust and iron sand in taper sandblasting cover (503).
4. a kind of climbing robot for marine surface cleaning derusting according to claim 1, it is characterised in that: described
Disc brush mechanism (7) includes motor (701), T-type plate (702) and disk (703), and the motor (701) is solid by four bolts
It is scheduled on above T-type plate (702), the T-type plate (702) is fixed on immediately ahead of fuselage (1) by two bolts and damper, described
Disk (703) is connected by the hole on T-type plate (702) with the output shaft on motor (701).
5. a kind of climbing robot for marine surface cleaning derusting according to claim 1, it is characterised in that: described
Retarder (2), alternating current generator (4) have two groups, are separately positioned on the internal left and right sides of the fuselage (1)；The walking mechanism
(3) there are two, it is distributed in the external left and right sides of fuselage (1).
6. a kind of climbing robot for marine surface cleaning derusting according to claim 5, it is characterised in that: described
Fuselage is connect with upper cover (9) by soket head cap screw.
7. a kind of climbing robot for marine surface cleaning derusting according to claim 1, it is characterised in that: described
Rotary shaft (10) is connected through a screw thread with servo motor (6) output shaft, and can adjust height up and down, and height adjusted is adopted
It is secured with nuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910003491.8A CN109466723A (en) | 2019-01-03 | 2019-01-03 | A kind of climbing robot for marine surface cleaning derusting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910003491.8A CN109466723A (en) | 2019-01-03 | 2019-01-03 | A kind of climbing robot for marine surface cleaning derusting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109466723A true CN109466723A (en) | 2019-03-15 |
Family
ID=65677070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910003491.8A Pending CN109466723A (en) | 2019-01-03 | 2019-01-03 | A kind of climbing robot for marine surface cleaning derusting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109466723A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN110341913A (en) * | 2019-07-29 | 2019-10-18 | 广东海洋大学 | A kind of magnetic adsorption type cleaning robot |
| CN110497322A (en) * | 2019-08-29 | 2019-11-26 | 中国石油大学(华东) | A kind of body section weld seam derusting device |
| CN111252207A (en) * | 2020-02-20 | 2020-06-09 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning robot |
| CN111842302A (en) * | 2020-07-30 | 2020-10-30 | 重庆交通大学 | Intelligent cleaning device for ship cargo hold |
| CN112090668A (en) * | 2020-09-29 | 2020-12-18 | 龙泉越来自动化技术有限公司 | Anticorrosive paint spraying device for ships |
| US20210048327A1 (en) * | 2019-08-13 | 2021-02-18 | Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision | Wall-climbing robot for measuring capacity of vertical metal tanks |
| CN112572717A (en) * | 2020-12-17 | 2021-03-30 | 韩洋 | Automatic removing device for ship biofouling |
| CN112606967A (en) * | 2020-12-23 | 2021-04-06 | 孙家付 | Ship attachment cleaning and repairing integrated robot |
| CN113118978A (en) * | 2021-05-25 | 2021-07-16 | 上海倍朔环保科技有限公司 | Automatic operation platform for ship coating |
| CN114212208A (en) * | 2022-01-20 | 2022-03-22 | 北京史河科技有限公司 | Control device of rust removal robot for inner cabin of ship |
| CN115320740A (en) * | 2022-07-26 | 2022-11-11 | 华中科技大学 | Wall-climbing robot for derusting wall surface of ship |
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2019
- 2019-01-03 CN CN201910003491.8A patent/CN109466723A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN112758272A (en) * | 2019-05-24 | 2021-05-07 | 傅梅英 | Crawling robot and using method |
| CN110341913A (en) * | 2019-07-29 | 2019-10-18 | 广东海洋大学 | A kind of magnetic adsorption type cleaning robot |
| CN110341913B (en) * | 2019-07-29 | 2021-03-23 | 广东海洋大学 | Magnetic adsorption type trash cleaning robot |
| US20210048327A1 (en) * | 2019-08-13 | 2021-02-18 | Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision | Wall-climbing robot for measuring capacity of vertical metal tanks |
| US11906342B2 (en) * | 2019-08-13 | 2024-02-20 | Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision | Wall-climbing robot for measuring capacity of vertical metal tanks |
| CN110497322A (en) * | 2019-08-29 | 2019-11-26 | 中国石油大学(华东) | A kind of body section weld seam derusting device |
| CN111252207A (en) * | 2020-02-20 | 2020-06-09 | 未来海工智能装备(山东)有限公司 | Ship bottom cleaning robot |
| CN111842302A (en) * | 2020-07-30 | 2020-10-30 | 重庆交通大学 | Intelligent cleaning device for ship cargo hold |
| CN112090668B (en) * | 2020-09-29 | 2021-07-13 | 德清县杰创机械有限公司 | Anticorrosive paint spraying device for ships |
| CN112090668A (en) * | 2020-09-29 | 2020-12-18 | 龙泉越来自动化技术有限公司 | Anticorrosive paint spraying device for ships |
| CN112572717A (en) * | 2020-12-17 | 2021-03-30 | 韩洋 | Automatic removing device for ship biofouling |
| CN112572717B (en) * | 2020-12-17 | 2022-02-11 | 重庆征东船务有限责任公司 | Automatic removing device for ship biofouling |
| CN112606967A (en) * | 2020-12-23 | 2021-04-06 | 孙家付 | Ship attachment cleaning and repairing integrated robot |
| CN113118978A (en) * | 2021-05-25 | 2021-07-16 | 上海倍朔环保科技有限公司 | Automatic operation platform for ship coating |
| CN114212208A (en) * | 2022-01-20 | 2022-03-22 | 北京史河科技有限公司 | Control device of rust removal robot for inner cabin of ship |
| CN114212208B (en) * | 2022-01-20 | 2022-11-25 | 北京史河科技有限公司 | Control device of rust removal robot for inner cabin of ship |
| CN115320740A (en) * | 2022-07-26 | 2022-11-11 | 华中科技大学 | Wall-climbing robot for derusting wall surface of ship |
| CN115320740B (en) * | 2022-07-26 | 2024-02-02 | 华中科技大学 | Ship wall surface rust removal wall climbing robot |
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