CN110901786A - High obstacle-surmounting capability wall-climbing robot for ship rust removal - Google Patents
High obstacle-surmounting capability wall-climbing robot for ship rust removal Download PDFInfo
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- CN110901786A CN110901786A CN201911265549.2A CN201911265549A CN110901786A CN 110901786 A CN110901786 A CN 110901786A CN 201911265549 A CN201911265549 A CN 201911265549A CN 110901786 A CN110901786 A CN 110901786A
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- Prior art keywords
- rust removal
- ship
- climbing robot
- wall
- rust
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a high obstacle-crossing capability wall-climbing robot for ship rust removal, which relates to the technical field of robot mechanisms and advanced manufacturing, and comprises a platform body, a permanent magnet module, a movable wheel set, a transmission mechanism and a rust removal module; the permanent magnet module can realize that the robot is attached to the surface of the ship body, the power is input and then the movable wheel set is driven through the transmission device, so that the robot moves on the surface of the ship, and the rust removing module can remove rust on the surface of the ship body. The invention can be used as a universal ship rust removal robot, has high working efficiency and good rust removal effect, and can realize rust removal operation on complex unevenness.
Description
Technical Field
The invention relates to the technical field of robot mechanisms and advanced manufacturing, in particular to a high obstacle-crossing capability wall-climbing robot for ship rust removal.
Background
A wall climbing robot refers to an automated robot that can climb and complete work on a vertical surface. The common adsorption modes of the wall-climbing robot include negative pressure adsorption and permanent magnet adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucking disc and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface. The wall-climbing robot is mainly used for petrochemical enterprises to carry out flaw detection or paint spraying treatment on the cylindrical large tank, or carry out cleaning and spraying of buildings, derusting of the surface of a ship body and the like. By analyzing the related application of the existing wall-climbing robot, the existing wall-climbing robot still has a certain gap from large-scale application due to the problem that the existing wall-climbing robot cannot overcome the crossing obstacle fundamentally.
The patent application with the application number of CN201910507693.6 discloses a wall-climbing robot system with a barrier-crossing function, wherein the wall-climbing robot comprises a base, the base is composed of acrylic acid plates and/or mixed plates formed by PLA and TPU, and a rubber shell is further arranged on the periphery of the base; a power system is arranged on the substrate and used for providing power for the wall-climbing robot to move, the power system comprises a driving assembly, the driving assembly is provided with a differential traction mechanism and outputs power by using a crawler mechanism, and the differential traction mechanism comprises an orthogonal transmission device. By contrast of technical features, the above-mentioned patent publications are of a type using negative pressure adsorption and the realization of the malfunction thereof is complicated.
Disclosure of Invention
In order to solve the technical problems, the invention provides the wall-climbing robot which has a simple structure, high working efficiency, high obstacle-crossing capability and can meet the requirements of different working conditions for rust removal of ships.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a high obstacle-crossing capability wall-climbing robot for ship rust removal, which comprises a platform body, a permanent magnet module, a movable wheel set, a transmission mechanism and a rust removal module, wherein the permanent magnet module is arranged on the platform body; the movable wheel set is arranged on two sides of the platform body, the permanent magnet modules are arranged on two sides of the movable wheel set, the transmission mechanism is used for outputting power of a power source to the movable wheel set, and the rust removal module is used for removing rust of the ship body.
Optionally, the moving wheel group comprises four moving wheels, and two moving wheels are respectively arranged on two sides of the platform body.
Optionally, the permanent magnet module includes a plurality of permanent magnets, and both sides of the moving wheel are provided with the permanent magnets.
Optionally, the rust removal module comprises a rust removal sucker, a high-pressure water inlet, a wastewater recovery port and a plurality of elastomers; the rust removing sucker is arranged on the bottom surface of the platform body, and the plurality of elastic bodies are arranged between the platform body and the rust removing sucker; the high-pressure water inlet and the wastewater recovery port are arranged on the top surface of the platform body, and the high-pressure water inlet and the wastewater recovery port are communicated with the inner side of the rust removing sucker.
Optionally, the elastic body is a spring.
Optionally, a movable wheel protection cover is further arranged on the platform body, and the movable wheel protection cover is arranged above the movable wheel set.
Optionally, the platform further comprises side plates, wherein the side plates are arranged on two sides of the platform body and are in contact connection with the movable wheel protection covers.
Optionally, a handle is disposed on the side plate.
Compared with the prior art, the invention has the following technical effects:
1. the permanent magnet module is adopted, so that the wall climbing robot can move and operate on various surfaces in the forms of a vertical surface, a ceiling surface and the like, and the wall climbing robot is high in load capacity, simple in structure and simple to control.
2. The rust removal module has excellent wrapping force on the surface of a ship body, can effectively recover waste water during rust removal operation, has no leakage, and meets the requirements on environmental protection conditions under various conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a high obstacle-crossing capability wall-climbing robot for ship rust removal according to the invention;
FIG. 2 is a schematic front view structure diagram of the high obstacle-surmounting capability wall-climbing robot for ship rust removal according to the invention;
FIG. 3 is a schematic side structure diagram of the high obstacle-surmounting capability wall-climbing robot for ship rust removal.
Description of reference numerals: 1. a platform body; 2. a moving wheel guard; 3. a wastewater recovery port; 4. a derusting sucker; 5. a moving wheel; 6. a side plate; 7. a permanent magnet module; 8. a power input; 9. a hand-held handle; 10. a high-pressure water inlet; 11. a support spring; 14. a ship body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the embodiment provides a high obstacle-surmounting capability wall-climbing robot for ship rust removal, which includes a platform body 1, a permanent magnet module 7, a moving wheel 5 set, a transmission mechanism and a rust removal module; the movable wheel 5 groups are arranged on two sides of the platform body 1, the permanent magnet modules are arranged on two sides of the movable wheel 5 groups, the transmission mechanism is used for outputting power of a power source to the movable wheel 5 groups, and the rust removal module is used for removing rust of the ship body 14.
In this embodiment, as shown in fig. 1-3, the platform body 1 is a plate-shaped member, and the platform body 1 is provided with a plurality of mounting holes.
The moving wheel 5 group comprises four moving wheels 5, and two moving wheels 5 are respectively arranged on two sides of the platform body 1.
The permanent magnet module 7 comprises a plurality of groups of permanent magnet units, each group of permanent magnet units comprises at least two permanent magnets, the N pole of one permanent magnet faces the ship body, and the S pole of the other permanent magnet faces the ship body, so that a closed magnetic loop is formed between the two permanent magnets and the ship body to enhance the adsorption force. A group of permanent magnet units are arranged on two sides of each moving wheel 5, and the magnetic adsorption force generated by the permanent magnet units can tightly adsorb the robot on the surface of the ship body 14.
The power source can adopt an electric motor, an air pump or a hydraulic pump, and the transmission mechanism can adopt chain transmission, belt transmission or gear transmission.
In this embodiment, the power source is a motor, the power of the motor is transmitted to the transmission mechanisms on both sides of the platform body 1 through chains, and the transmission mechanisms are driven by gears to transmit the power from the motor to the moving wheels 5 to drive the moving wheels 5.
The rust removing sucker 4 is tightly attached to the surface of the ship body 14 through a plurality of supporting springs 11, the rust on the surface of the ship body 14 is removed by introducing high-pressure water into the rust removing sucker 4, and the wastewater is recovered through the wastewater recovery port 3.
Further, waste water recovery mouth 3 communicates a water pump, through the suction effect of water pump, forms the negative pressure in making rust cleaning sucking disc 4 to retrieve waste water better, realize that there is not the leakage among the waste water recovery process.
The high obstacle-crossing capability wall-climbing robot for ship rust removal has the following working principle:
the wall-climbing robot is adsorbed on the surface of the ship body 14 through the permanent magnet; the moving wheels 5 are driven by a power source and a transmission mechanism, so that the wall-climbing robot can move on the surface of the ship body 14; high-pressure water is introduced into the rust removing module to remove rust bodies on the surface of the ship body 14, and the waste water is recovered through the waste water recovery port 3.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A high obstacle-surmounting capability wall-climbing robot for ship rust removal is characterized by comprising a platform body, a permanent magnet module, a movable wheel set, a transmission mechanism and a rust removal module; the movable wheel set is arranged on two sides of the platform body, the permanent magnet modules are arranged on two sides of the movable wheel set, the transmission mechanism is used for outputting power of a power source to the movable wheel set, and the rust removal module is used for removing rust of the ship body.
2. The wall-climbing robot with high obstacle crossing capability for ship rust removal according to claim 1, wherein the moving wheel group comprises four moving wheels, and two moving wheels are respectively arranged on two sides of the platform body.
3. The wall climbing robot with high obstacle crossing capability for ship rust removal according to claim 2, wherein the permanent magnet module comprises a plurality of permanent magnets, and the permanent magnets are arranged on two sides of the moving wheel.
4. The wall climbing robot with high obstacle crossing capability for ship rust removal according to claim 1, wherein the rust removal module comprises a rust removal sucker, a high-pressure water inlet, a wastewater recovery port and a plurality of elastic bodies; the rust removing sucker is arranged on the bottom surface of the platform body, and the plurality of elastic bodies are arranged between the platform body and the rust removing sucker; the high-pressure water inlet and the wastewater recovery port are arranged on the top surface of the platform body, and the high-pressure water inlet and the wastewater recovery port are communicated with the inner side of the rust removing sucker.
5. The high obstacle-crossing capability wall-climbing robot facing ship rust removal of claim 4, wherein the elastic body is a spring.
6. The wall climbing robot with high obstacle crossing capability for ship rust removal according to claim 1, wherein a moving wheel protection cover is further arranged on the platform body and arranged above the moving wheel set.
7. The wall climbing robot with high obstacle crossing capability for ship rust removal according to claim 6, further comprising side plates arranged on two sides of the platform body and in contact connection with the movable wheel protection covers.
8. The high obstacle crossing ability wall climbing robot facing ship rust removal of claim 7, characterized in that a hand-held handle is provided on the side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911265549.2A CN110901786A (en) | 2019-12-11 | 2019-12-11 | High obstacle-surmounting capability wall-climbing robot for ship rust removal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911265549.2A CN110901786A (en) | 2019-12-11 | 2019-12-11 | High obstacle-surmounting capability wall-climbing robot for ship rust removal |
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| Publication Number | Publication Date |
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| CN110901786A true CN110901786A (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911265549.2A Pending CN110901786A (en) | 2019-12-11 | 2019-12-11 | High obstacle-surmounting capability wall-climbing robot for ship rust removal |
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| CN (1) | CN110901786A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021375A (en) * | 2021-03-24 | 2021-06-25 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
| CN114433579A (en) * | 2022-01-05 | 2022-05-06 | 武汉理工大学 | Adsorption type small robot for cleaning oil tank truck and cleaning method |
| CN114771681A (en) * | 2022-05-13 | 2022-07-22 | 铜陵有色金属集团股份有限公司工程技术分公司 | Safe and reliable's magnetism adsorbs wall climbing robot |
Citations (5)
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| CN101426664A (en) * | 2006-03-13 | 2009-05-06 | 磁转换技术全球控股有限公司 | Magnetic wheel |
| CN102689296A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Novel differentially driven composite attraction type wall climbing robot |
| US20140137673A1 (en) * | 2011-12-07 | 2014-05-22 | The Boeing Company | Adaptive Magnetic Coupling System |
| CN206781910U (en) * | 2017-05-10 | 2017-12-22 | 深圳市行知行机器人技术有限公司 | Ship wall-climbing robot for removing rust |
| CN108945340A (en) * | 2018-09-17 | 2018-12-07 | 友联船厂（蛇口）有限公司 | Ship derusting cleaning method based on climbing robot |
-
2019
- 2019-12-11 CN CN201911265549.2A patent/CN110901786A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101426664A (en) * | 2006-03-13 | 2009-05-06 | 磁转换技术全球控股有限公司 | Magnetic wheel |
| US20140137673A1 (en) * | 2011-12-07 | 2014-05-22 | The Boeing Company | Adaptive Magnetic Coupling System |
| CN102689296A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Novel differentially driven composite attraction type wall climbing robot |
| CN206781910U (en) * | 2017-05-10 | 2017-12-22 | 深圳市行知行机器人技术有限公司 | Ship wall-climbing robot for removing rust |
| CN108945340A (en) * | 2018-09-17 | 2018-12-07 | 友联船厂（蛇口）有限公司 | Ship derusting cleaning method based on climbing robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021375A (en) * | 2021-03-24 | 2021-06-25 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
| CN114433579A (en) * | 2022-01-05 | 2022-05-06 | 武汉理工大学 | Adsorption type small robot for cleaning oil tank truck and cleaning method |
| CN114771681A (en) * | 2022-05-13 | 2022-07-22 | 铜陵有色金属集团股份有限公司工程技术分公司 | Safe and reliable's magnetism adsorbs wall climbing robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Bin Inventor after: Wang Congzhong Inventor after: Ye Jingmei Inventor after: Dong Tingzhen Inventor before: Wang Congzhong Inventor before: Li Bin Inventor before: Ye Jingmei Inventor before: Dong Tingzhen |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201119 Address after: 300384 Tianjin city Xiqing District West Binshui Road No. 391 Applicant after: TIANJIN University OF TECHNOLOGY Address before: 300384 Tianjin city Xiqing District West Binshui Road No. 391 Applicant before: Wang Congzhong Applicant before: Li Bin |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |