CN110027673A - A kind of adaptive traction climbing robot for the multi-functional processing of huge hull - Google Patents
A kind of adaptive traction climbing robot for the multi-functional processing of huge hull Download PDFInfo
- Publication number
- CN110027673A CN110027673A CN201910304060.5A CN201910304060A CN110027673A CN 110027673 A CN110027673 A CN 110027673A CN 201910304060 A CN201910304060 A CN 201910304060A CN 110027673 A CN110027673 A CN 110027673A
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- Prior art keywords
- module
- functional processing
- climbing robot
- huge
- traction
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive traction climbing robots for the multi-functional processing of huge hull, are related to robot field, including traction power module, braking walking chassis module, sensor module and tool to connection module.Wherein, traction power module is fixed with large component, and braking walking chassis module is connect by rope with traction power module, and sensor module and tool are installed in braking walking chassis module connection module.The present invention can be applicable in the task of argosy section wall surface, and can carry out the replacement of the functions such as correction of the flank shape cutting, spraying and cleaning according to actual needs, reduce the intensity and risk of manual work, and operating speed is fast, precision is high, shortens the duration.
Description
Technical field
The present invention relates to robot fields more particularly to a kind of adaptive traction for the multi-functional processing of huge hull to climb
Wall robot.
Background technique
Multi-functional processing refers to that the robot has general tool mounting platform, the tool for the different function that can change the outfit
Head.Adaptive traction refers to by way of cable traction and magnetic suck, realizes movement and the precise positioning of climbing robot.Needle
To the rare problem of the manual operation of huge hull, this special equipment is designed, has space span big, kinematic accuracy is high,
Can online assignment high degree of automation the advantages that.
As China is to the investment of marine cause, the demand to the even oversized ship of jumbo ship is further vigorous, into
One step has driven the development of shipping industry.And during shipbuilding, cutting is carried out to the ship section that preparatory processing has manufactured and is repaired
Shape, air brushing detection, generally require to build high scaffold in dock, carry out small range manual operation.Or lifting operator
It is transported to certain height and carries out manual operation, time and effort consuming, and there are security risks.It is small which results in machining areas, works as needs
When carrying out the operation of multiple positions to big ship section, need repeatedly to dismantle scaffold, this undoubtedly can delay the process-cycle.Meanwhile
Manual operation brings inevitable mismachining tolerance, is unfavorable for the ship section butt-joint process in later period.
Existing technology is retrieved and is found, Chinese patent literature CN207389348U (publication date: 2018-05-22), note
A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot, including the identical permanent magnetic adsorption-type crawler belt wheel model of four structures are carried
Block, the car body module based on parallelogram mechanism and rectangular coordinate system formula paint spraying mechanical arm module.Four structures are identical forever
Magnetic adsorption type Athey wheel module symmetry is arranged in the two sides of car body module, in the top of car body module installation rectangular coordinate system formula spray
Paint mechanical arm module.Each Athey wheel module includes magnetic conductive board, magnetic isolation plate, Nd-Fe-B permanent magnet, Athey wheel driving motor, two
A driving wheel, synchronous belt, two synchronous pulleys, two driven wheels, Athey wheel bearing outer end cap, Athey wheel bearing, track wheel shaft
Hold inner end cap, crawler belt, drive sprocket axle, sleeve and follower shaft.Magnetic conductive board is centered around the outer surface of crawler belt, and rigid connection is being led
The middle part of magnetic sheet is evenly arranged a number of magnetic isolation plate along magnetic conductive board length direction.But existing technology is in comparison with the present application
Be disadvantageous in that: by the limitation of a plurality of straight line mould group weight, the ability of load is limited, it is difficult to realize to the side of component big
Wide job, mobility is not obviously strong.Although being fixed by the way of the absorption of crawler type magnet, for the work on big inclined-plane
Make state, the task of the wall surface of argosy section can not be perfectly suitable for.In addition, prior-art devices function list
One, it cannot be replaced according to actual needs.
Therefore, those skilled in the art is dedicated to developing a kind of component progress that can be used for big cambered surface, high size section
The device of processing can be arranged in the cambered surface of hull, by adaptive magnetic suck and traction device, realize the positioning of the device
And fixation.Meanwhile the device according to process requirements, can replace the operation head of different function, such as: cutting head, air brushing head and
Cleaning device.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to obtain by rationally designing
It can be applicable in the task of argosy section wall surface, and the device of function replacement can be carried out according to actual needs.
To achieve the above object, the present invention provides a kind of adaptive tractions for the multi-functional processing of huge hull to climb wall
Robot, including traction power module, braking walking chassis module, sensor module and tool are to connection module；Wherein, described to lead
Priming power module is fixed with large component, and the braking walking chassis module is connect by rope with the traction power module,
The sensor module and the tool are installed in the braking walking chassis module connection module.
Further, the traction power module include: upper constraint guide rail, lower constraint guide rail, top shoe, sliding block, on
Electric rolling drum, lower electric rolling drum, passive winder, rope, traction connection buckle, dynamic effect buckle, power signal line and cross
Column, the upper constraint guide rail are fixed on the top of huge ship section, and the lower constraint guide rail is fixed on the ground of ship section, the upper cunning
Block is mounted on the upper constraint guide rail, and the sliding block is mounted on the lower constraint guide rail.
Further, the upper electronic winder and the passive winder are connect with the top shoe, electronic under described
Winder is connect with the sliding block, and the power signal line is wound around on the passive winder.
Further, the braking walking chassis module includes: magnetic bottom plate, wheeled bottom plate, follower, elastic connection
Hinge, electromagnetism matrix, side plate, Damping hinge, intermediate plate and rubber spring.
Further, it is cut with scissors and is connected with each other by the elastic connection between the magnetic bottom plate and the wheeled bottom plate, institute
It states follower to be mounted on the wheeled bottom plate, the electromagnetism matrix is fixed on the magnetic bottom plate.
Further, the wheeled bottom plate and the magnetic floor combination are integral, pass through the resistance with the intermediate plate
Buddhist nun's hinge connection, the intermediate plate as the sensor module and the tool to the bearing of connection module, with the side plate
It is fixed to each other.
Further, the tool includes: pedestal to connection module, ring segment clip, pre-tightens jackscrew, elastic top wheel and general work
Has connector.
Further, the ring segment clip adjusts the size of coupling mechanism force by pre-tightening jackscrew as locking device.
Further, the elastic top wheel is for keeping the tool to have a certain distance to connection module and ship section surface.
Further, the sensor module includes: fixed frame, gyroscope, ultrasonic wave obstacle instrument, miniature control panel, line
Cable cable buncher.
Advantageous effects of the invention are as follows:
1, the present invention can be applicable in the big cambered surface of argosy section wall surface, the task of high size section, reduce artificial work
The intensity and risk of industry.
2, the present invention on robot device reserve general-purpose interface, can carry out according to actual needs correction of the flank shape cutting, spraying and
The replacement of the functions such as cleaning, reduces human cost, improves processing efficiency, shorten the process-cycle.
3, overall mechanism of the present invention is simplified, and all parts are regular shape component, manufacture easy to process.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the overall schematic of a preferred embodiment of the invention；
Fig. 2 is the structure chart of a preferred embodiment of the invention；
Fig. 3 is the traction power module map of a preferred embodiment of the invention；
Fig. 4 is braking walking chassis module, sensor module and tool the docking mould of a preferred embodiment of the invention
Block overall structure figure.
Specific embodiment
The preferred embodiment of the present invention is introduced below with reference to Figure of description, keeps its technology contents more clear and convenient for reason
Solution.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention is not limited only to text
In the embodiment mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
As depicted in figs. 1 and 2, a preferred embodiment of the invention it is a kind of for the multi-functional processing of huge hull from
Adapt to traction climbing robot, comprising: traction power module 1, braking walking chassis module 2, tool are to connection module 3 and sensor
Module 4.Traction power module 1 is fixed with large component, and braking walking chassis module 2 is connected by rope and traction power module 1
It connects, tool is installed in braking walking chassis module 2 connection module 3 and sensor module 4.
As shown in Figure 3 and Figure 4, traction power module 1 includes: upper constraint guide rail 5, lower constraint guide rail 6, top shoe 7, glides
Block 8, upper electronic winder 9, lower electric rolling drum 10, passive winder 11, rope 12, traction connection buckle 13, dynamic effect are buckled
14, power signal line 15 and horizontal bar 16.Upper constraint guide rail 5 is arranged in the top of huge ship section, and lower constraint guide rail 6 is fixed on ship section
Ground, top shoe 7, sliding block 8 be separately mounted to up and down constrain guide rail 5,6 on, upper electronic winder 9 and passive winder 11
It is connect with top shoe 7, lower electric rolling drum 10 is connect with sliding block 8.Realize upper and lower electric rolling drum 9,10 and passive winder
11 moving left and right on upper and lower constraint guide rail 6,7 directions.It is wrapped around rope 12 on upper and lower electric rolling drum 9,10, coordinates control
The folding and unfolding of rope making rope 12.It is wound around power signal line 15 on passive winder 11, passive winder 11 can pass through passive stress
It realizes the receipts to power signal line 15 and puts.Rope 12 passes through horizontal bar 16 and traction connection buckle 13 and braking walking chassis module
2 connections, power signal line 15 pass through the notch of horizontal bar 16, are fixed in braking walking chassis module 2 by dynamic effect button 14.
Movement of the braking walking chassis module 2 relative to huge ship section is realized by cable traction.
Braking walking chassis module 2 includes: magnetic bottom plate 17, wheeled bottom plate 18, follower 19, elastic connection hinge 20, electricity
Magnetic matrix 21, side plate 22, Damping hinge 23, intermediate plate 24, rubber spring 25.Pass through between magnetic bottom plate 17 and wheeled bottom plate 18
Elastic connection hinge 20 is connected with each other, and follower 19 is mounted on wheeled bottom plate 18, and electromagnetism matrix 21 is fixed on magnetic bottom plate 17.
Several wheeled bottom plates 18 and several magnetic bottom plates 17 are combined into one, and are interconnected with intermediate plate 24 by 23 phase of Damping hinge
It connects.Intermediate plate 24, to the bearing of connection module 3, is fixed to each other as sensor module 4 and tool with side plate 22.Pass through magnetic suck
Mode realize braking walking chassis module 2 precise positioning and fixation.
Tool includes: pedestal 26 to connection module 3, ring segment clip 27, pre-tighten jackscrew 28, elastic top wheel 29, general utility tool connect
First 30.Pedestal 26 and intermediate plate 24 are connected with each other, and ring segment clip 27 is used as locking device, by way of screw attachment and pedestal
26 connections, the size of coupling mechanism force is adjusted by pre-tightening jackscrew 28.29 one end of elastic top wheel is connect with side plate 22, and the other end withstands on ship
On the surface of section, holding tool has a certain distance to connection module 3 and ship section surface.General utility tool connector 30 and pedestal 26 are mutual
It is connected and fixed.The module according to process requirements, can replace the operation head of different function, such as: cutting head, air brushing head and cleaning
Device.
Sensor module 4 includes: fixed frame 31, gyroscope 32, ultrasonic wave obstacle instrument 33, miniature control panel 34, cable bundle
Line device 35.Fixed frame 31 is mounted on side plate 22, and gyroscope 32, ultrasonic wave obstacle instrument 33, miniature control panel 34 are fixed on fixation
On frame 31, cable cable buncher 35 is mounted on side plate 22.Precise positioning of the module for robot and the avoidance in movement.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of adaptive traction climbing robot for the multi-functional processing of huge hull, which is characterized in that dynamic including drawing
Power module, braking walking chassis module, sensor module and tool are to connection module；Wherein, the traction power module and large size
Component is fixed, and the braking walking chassis module is connect by rope with the traction power module, the sensor module with
The tool is installed in the braking walking chassis module connection module.
2. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as described in claim 1, feature exists
In the traction power module includes: upper constraint guide rail, lower constraint guide rail, top shoe, sliding block, upper electronic winder, lower electricity
Dynamic winder, passive winder, rope, traction connection buckle, dynamic effect are buckled, power signal line and horizontal bar, the upper constraint are led
Rail is fixed on the top of huge ship section, and the lower constraint guide rail is fixed on the ground of ship section, and the top shoe is mounted on described
It constrains on guide rail, the sliding block is mounted on the lower constraint guide rail.
3. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as claimed in claim 2, feature exists
In, the upper electronic winder and the passive winder are connect with the top shoe, the lower electric rolling drum and it is described under
Sliding block connects, and is wound around the power signal line on the passive winder.
4. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as described in claim 1, feature exists
In the braking walking chassis module includes: magnetic bottom plate, wheeled bottom plate, follower, elastic connection hinge, electromagnetism matrix, side
Plate, Damping hinge, intermediate plate and rubber spring.
5. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as claimed in claim 4, feature exists
In by elastic connection hinge interconnection between the magnetism bottom plate and the wheeled bottom plate, the follower is mounted on
On the wheeled bottom plate, the electromagnetism matrix is fixed on the magnetic bottom plate.
6. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as claimed in claim 4, feature exists
In the wheeled bottom plate and the magnetic floor combination are integral, are connect with the intermediate plate by the Damping hinge, described
Intermediate plate, to the bearing of connection module, is fixed to each other as the sensor module and the tool with the side plate.
7. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as described in claim 1, feature exists
In the tool includes: pedestal to connection module, ring segment clip, pre-tightens jackscrew, elastic top wheel and general utility tool connector.
8. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as claimed in claim 7, feature exists
In the ring segment clip adjusts the size of coupling mechanism force by the preload jackscrew as locking device.
9. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as claimed in claim 7, feature exists
In the elastic top wheel is for keeping the tool to have a certain distance to connection module and ship section surface.
10. being used for the adaptive traction climbing robot of the multi-functional processing of huge hull as described in claim 1, feature exists
In the sensor module includes: fixed frame, gyroscope, ultrasonic wave obstacle instrument, miniature control panel, cable cable buncher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910304060.5A CN110027673B (en) | 2019-04-16 | 2019-04-16 | Self-adaptive traction wall-climbing robot for multifunctional processing of giant ship body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910304060.5A CN110027673B (en) | 2019-04-16 | 2019-04-16 | Self-adaptive traction wall-climbing robot for multifunctional processing of giant ship body |
Publications (2)
| Publication Number | Publication Date |
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| CN110027673A true CN110027673A (en) | 2019-07-19 |
| CN110027673B CN110027673B (en) | 2021-03-30 |
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| CN201910304060.5A Active CN110027673B (en) | 2019-04-16 | 2019-04-16 | Self-adaptive traction wall-climbing robot for multifunctional processing of giant ship body |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550164A (en) * | 2019-09-17 | 2019-12-10 | 浙江海洋大学 | automatic rust cleaning device for ship |
| CN112591051A (en) * | 2020-12-23 | 2021-04-02 | 上海交通大学 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
| CN113636034A (en) * | 2021-10-14 | 2021-11-12 | 南通澳洋船务有限公司 | Automatic cleaning device of boats and ships |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
| CN113856956A (en) * | 2021-11-10 | 2021-12-31 | 大连海洋大学 | Dragon type surface spraying robot system for large ship steel plate and spraying method |
| CN113941755A (en) * | 2020-07-15 | 2022-01-18 | 华东交通大学 | Freight train disassembles side wall and preapres for an unfavorable turn of events shape fixing device |
| CN115415072A (en) * | 2022-09-15 | 2022-12-02 | 中国一冶集团有限公司 | Blast furnace downcomer outer wall paint finishing |
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| CN113941755B (en) * | 2020-07-15 | 2024-04-12 | 华东交通大学 | Anti-deformation fixing device for dismantling side wall of freight train |
| CN112591051A (en) * | 2020-12-23 | 2021-04-02 | 上海交通大学 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
| CN112591051B (en) * | 2020-12-23 | 2021-11-12 | 上海交通大学 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
| CN113636034A (en) * | 2021-10-14 | 2021-11-12 | 南通澳洋船务有限公司 | Automatic cleaning device of boats and ships |
| CN113636034B (en) * | 2021-10-14 | 2021-12-17 | 南通澳洋船务有限公司 | Automatic cleaning device of boats and ships |
| CN113856956A (en) * | 2021-11-10 | 2021-12-31 | 大连海洋大学 | Dragon type surface spraying robot system for large ship steel plate and spraying method |
| CN115415072A (en) * | 2022-09-15 | 2022-12-02 | 中国一冶集团有限公司 | Blast furnace downcomer outer wall paint finishing |
| CN115415072B (en) * | 2022-09-15 | 2024-05-17 | 中国一冶集团有限公司 | Blast furnace downcomer outer wall spraying system |
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| CN110027673B (en) | 2021-03-30 |
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