CN111196325A - Ship rust removal and paint spraying integrated wall climbing robot - Google Patents

Ship rust removal and paint spraying integrated wall climbing robot Download PDF

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Publication number
CN111196325A
CN111196325A CN201811405809.7A CN201811405809A CN111196325A CN 111196325 A CN111196325 A CN 111196325A CN 201811405809 A CN201811405809 A CN 201811405809A CN 111196325 A CN111196325 A CN 111196325A
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China
Prior art keywords
paint
paint spraying
pressure water
transverse plate
spring
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CN201811405809.7A
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Chinese (zh)
Inventor
陈光明
黄旋
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Nanjing Agricultural University
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Nanjing Agricultural University
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Priority to CN201811405809.7A priority Critical patent/CN111196325A/en
Publication of CN111196325A publication Critical patent/CN111196325A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06Cleaning devices for hulls
    • B63B59/10Cleaning devices for hulls using trolleys or the like driven along the surface

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention belongs to the field of ship cleaning, and discloses a ship rust removing and paint spraying integrated wall climbing robot which comprises a paint spraying system, a front driving system, a left wheel edge travelling mechanism, a vacuum dewatering and adsorbing system, a rear driving system, a high-pressure water jet rust removing system and a right wheel edge travelling mechanism, wherein the high-pressure water jet rust removing system is connected with one side of the front driving system through a height adjusting block, the vacuum dewatering and adsorbing system is respectively connected with one sides of the front driving system and the rear driving system, the paint spraying system is respectively fixed on two sides of the rear driving system through a paint nozzle mounting frame and a four-way fixing block, the left wheel edge travelling mechanism and the right wheel edge travelling mechanism have the same structure and are centrosymmetric and are connected with couplings of the front driving system and the rear driving system, and the robot integrates the rust removing, the drying and the paint spraying protection of the wall surface of, the problem of secondary rust return caused by untimely residual moisture treatment is solved, and the operation efficiency is greatly improved.

Description

Ship rust removal and paint spraying integrated wall climbing robot
Technical Field
The invention belongs to the field of ship cleaning, and particularly relates to a ship rust removing and paint spraying integrated wall climbing robot
Background
The existing method for derusting ships is that ships enter a dock to dock and stop, the traditional physical method is mainly used, manual scraping is used for derusting, sand blasting is used for derusting or high-pressure water jet is used for derusting, the problems of low efficiency, high pollution, certain danger in operation and the like generally exist, the walls of the ships cannot be effectively treated in time after derusting, the problem of secondary rust return is serious, and the subsequent process for spraying paint and preventing rust on the walls of the ships is greatly influenced. Aiming at the problems, the ship rust removing and paint spraying integrated wall climbing robot is designed, the ship wall surface is subjected to rust removal by utilizing the impact stripping effect of high-pressure water jet, a vacuum chuck provides partial adsorption force and removes water and dries the ship cleaned wall surface, and a paint spraying system performs paint spraying on the dried ship wall surface to prevent the secondary rust returning problem. Compared with the traditional derusting method, the method has the advantages of high efficiency, no pollution, safe operation and the like.
Disclosure of Invention
The invention aims to provide a ship rust-removing and paint-spraying integrated wall-climbing robot to solve the problems in the background technology.
The purpose of the invention is realized by the following technical scheme: the utility model provides a boats and ships rust cleaning integral type wall climbing robot that sprays paint, its structure includes paint spraying system, preceding actuating system, left side wheel limit running gear, vacuum dewatering adsorption system, back actuating system, high pressure water jet rust cleaning system, right side wheel limit running gear, its characterized in that: the high-pressure water jet rust removing system is connected with one side of the front driving system through a height adjusting block, the vacuum dewatering adsorption system is respectively connected with one sides of the front driving system and the rear driving system, the paint spraying system is respectively fixed on two sides of the rear driving system through a paint nozzle mounting frame and a four-way fixing block, the left wheel edge walking mechanism and the right wheel edge walking mechanism have the same structure, the left wheel edge walking mechanism and the right wheel edge walking mechanism are centrosymmetric with respect to the vacuum dewatering adsorption system, the left wheel edge walking mechanism and the right wheel edge walking mechanism are respectively connected with two ends of the front driving system and the rear driving system through small corner blocks, the front driving system and the rear driving system are connected with a driving shaft through a coupler, the front driving system and the rear driving system have the same structure, and the front driving system and the rear driving system are centrosymmetric with respect to the vacuum dewatering adsorption system, the total cleaning width of the high-pressure water jet rust removal system is more than or equal to the width of a robot body, the diameter of a vacuum sucker in the vacuum dewatering adsorption system is more than or equal to the total spraying width of the paint spraying system, and the total spraying width of the paint spraying system is less than or equal to the total cleaning width of the high-pressure water jet rust removal system.
Further, among the high-pressure water jet rust cleaning system, a plurality of high-pressure water nozzles are evenly distributed on a symmetrical high-pressure water nozzle mounting square pipe, the high-pressure water nozzle mounting square pipe is connected through a high-pressure water tee, and the high-pressure water nozzle cleaning angle are adjusted through an angle adjusting block and a height adjusting block.
Further, vacuum dewatering adsorption system comprises sucking disc buffering fixing device and vacuum chuck, sucking disc buffering fixing device is by the horizontal pole, pretension bolt, fastening bolt, the big-angle piece, the spring briquetting, the spring, the sucking disc connecting block, sucking disc fixing bolt, vacuum chuck is connected with the sucking disc connecting block through sucking disc fixing bolt, the spring briquetting is fixed at the horizontal pole through fastening bolt, pretension bolt series connection sucking disc connecting block, spring briquetting and horizontal pole, adjust the adjustable spring pretightning force of pretension bolt, make vacuum chuck sticis in the boats and ships wall.
Further, paint spraying system comprises paint nozzle, lacquer pipe, paint nozzle mounting bracket, cross fixed block and cross, a plurality of paint nozzle equipartitions in paint nozzle mounting bracket among the paint spraying system, the paint nozzle is connected with the cross through lacquer pipe, and the paint pressurization gets into the paint nozzle and carries out the spraying.
Furthermore, the front driving system is characterized in that the motor and the speed reducer are connected with a motor fixing block, the motor fixing block is fastened on the transverse plate, the speed reducer is connected with the coupler and the speed reducer fixing block, and the speed reducer fixing block is fastened on the transverse plate.
Further, the left wheel side travelling mechanism consists of a locking bolt, a clamp spring, a gasket, a bearing, a driven sprocket, a transverse fixing block, a threaded rod, a driving sprocket, a planar bearing, a bearing seat, a needle bearing, an air spring, a driven shaft, a bent plate chain, a driving shaft, a magnet block, a travelling mechanism inner transverse plate and a travelling mechanism outer transverse plate, wherein the driving shaft is in interference fit with the driving sprocket through a flat key and is connected with the planar bearing and the needle bearing in series, the needle bearing is installed in the bearing seat, the bearing seat is fastened on the travelling mechanism outer transverse plate through a bolt, the driving sprocket is meshed with the bent plate chain, the driven shaft is in interference fit with the bearing and is connected with the clamp spring, the gasket and the air spring, the driven shaft penetrates through sliding grooves of the travelling mechanism inner transverse plate and the travelling mechanism outer transverse plate, the locking bolt is installed at two ends of the driven, the driven chain wheel is in interference fit with the bearing and meshed with the bent plate chain, the threaded rod is connected with the inner transverse plate of the traveling mechanism, the outer transverse plate of the traveling mechanism and one end of the gas spring, the transverse fixing block is connected with the inner transverse plate of the traveling mechanism and the outer transverse plate (53) of the traveling mechanism, and the magnetic block (51) is fastened on each link of the bent plate chain.
Advantageous effects
(1) The walking mechanism of the robot is a chain wheel chain type mechanism, a plurality of magnetic blocks are embedded on a bent plate chain to perform alternate adsorption, the chain embedded with the magnetic blocks has good adaptability to uneven wall surfaces, the magnetic blocks are fully contacted with the wall surfaces as far as possible to provide enough adsorption force, the magnetic blocks can be firmly adsorbed on the wall surfaces under the condition that a power system fails, and the operation safety performance is high.
(2) The driving system of the robot is arranged in a central symmetry way, and the front driving wheel and the rear driving wheel are respectively provided with one driving wheel, so that the robot is favorable for ensuring good obstacle crossing performance under any operation posture.
(3) The robot provided by the invention carries out high-pressure water rust removal through the high-pressure water jet rust removal system, the vacuum water removal adsorption system carries out adsorption and water removal, and the paint spraying system carries out paint spraying and rust prevention treatment on the wall surface after rust removal and water removal, so that the ship rust removal and ship paint spraying and rust prevention integrated operation is realized.
Drawings
FIG. 1 is an isometric view of the integrated rust-removing and paint-spraying wall-climbing robot for ships according to the invention
FIG. 2 is the structure diagram of the high-pressure water jet rust removing system in the invention
FIG. 3 is an isometric view of a vacuum dewatering adsorption system according to the present invention
FIG. 4 is a view showing the structure of the vacuum chuck buffer fixing device of the present invention
FIG. 5 is a view showing the structure of a paint spraying system according to the present invention
FIG. 6 is a view showing the structure of a front driving system according to the present invention
FIG. 7 is an internal structure view of the left side wheel side traveling mechanism of the present invention
FIG. 8 is an isometric view of a left side wheel side travel mechanism of the present invention
In the figure: 1 paint spraying system, 2 front driving system, 3 left side wheel edge walking mechanism, 4 vacuum dewatering adsorption system, 5 rear driving system, 6 high-pressure water jet rust removing system, 7 right side wheel edge walking mechanism, 8 high-pressure water nozzle mounting square tube, 9 angle adjusting block, 10 height adjusting block, 11 high-pressure water tee, 12 high-pressure tube fixing block, 13 high-pressure water nozzle, 14 sucker buffering fixing device, 15 vacuum sucker, 16 cross rod, 17 pre-tightening bolt, 18 fastening bolt, 19 large angle block, 20 spring pressing block, 21 spring, 22 sucker connecting block, 23 sucker fixing bolt, 24 paint nozzle, 25 paint tube, 26 paint nozzle mounting frame, 27 four-way fixing block, 28 four-way, 29 small angle block, 30 coupler, 31 reducer fixing block, 32 reducer, 33 motor fixing block, 34 motor, 35 cross plate, 36 locking bolt, 37 snap spring, 38 washer, 39 bearing, 40 driven sprockets, 41 transverse fixing blocks, 42 threaded rods, 43 driving sprockets, 44 plane bearings, 45 bearing seats, 46 needle bearings, 47 air springs, 48 driven shafts, 49 bent plate chains, 50 driving shafts, 51 magnetic blocks, 52 traveling mechanism inner transverse plates and 53 traveling mechanism outer transverse plates
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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention
Referring to fig. 1-8, the present invention provides a technical solution: a ship rust-removing and paint-spraying integrated wall-climbing robot structurally comprises a paint spraying system 1, a front driving system 2, a left wheel edge walking mechanism 3, a vacuum dewatering adsorption system 4, a rear driving system 5, a high-pressure water jet rust-removing system 6 and a right wheel edge walking mechanism 7, wherein the high-pressure water jet rust-removing system 6 is connected with one side of the front driving system 2 through two symmetrical height adjusting blocks 10, the vacuum dewatering adsorption system 4 is respectively connected with one sides of the front driving system 2 and the rear driving system 5 through four large corner blocks 19, the paint spraying system 1 is respectively fixed on two sides of the rear driving system 5 through a paint nozzle mounting frame 26 and a four-way fixing block 27, the left wheel edge walking mechanism 3 and the right wheel edge walking mechanism 7 are identical in structure, and the left wheel edge walking mechanism 3 and the right wheel edge walking mechanism 7 are centrosymmetric about the vacuum dewatering adsorption system 4, left side wheel limit running gear 3 is connected with the both ends of front actuating system 2 and back actuating system 5 respectively through a plurality of little hornblocks 29 with right side wheel limit running gear 7, front actuating system 2 is connected with driving shaft 47 through shaft coupling 28 with back actuating system 5, the two structures of front actuating system 2 and back actuating system 5 are the same, and is central symmetry about vacuum dewatering adsorption system 4 between front actuating system 2 and the back actuating system 5, total width more than or equal to robot car body width is washd to high pressure water jet rust cleaning system 6, the total width of vacuum chuck 15 diameter more than or equal to paint spraying system 1 spraying in the vacuum dewatering adsorption system 4, total width less than or equal to high pressure water jet rust cleaning system 6 of paint spraying system 1 spraying washs total width.
In specific implementation, the corresponding structural arrangement also includes:
referring to fig. 2, the high-pressure water jet rust removing system 6 of the present embodiment is structurally configured as follows:
six high-pressure water nozzles 13 in the high-pressure water jet rust removal system 6 are uniformly distributed on two symmetrical high-pressure water nozzle mounting square pipes 8, high-pressure water emitted by the high-pressure water nozzles 13 has certain cleaning width, the total cleaning width of the six high-pressure water nozzles 13 is larger than the width of a robot body, the two high-pressure water nozzle mounting square pipes 8 are connected through a high-pressure water tee 11, the two symmetrical high-pressure pipe fixing blocks 12 respectively fix the two high-pressure water nozzle mounting square pipes 8, meanwhile, the angle adjusting block 9 is connected, six adjusting holes with equal angles are uniformly distributed on the angle adjusting block 9, the other end of the angle adjusting block 9 is connected with a height adjusting block 10, six adjusting holes with equal intervals are uniformly distributed on the height adjusting block 10, aiming at different rust conditions of the wall surface of the ship, the angle adjusting block 9 and the height adjusting block 10 are used for adjusting the incident angle and the target distance of the high-pressure water so as to achieve the best cleaning effect.
Referring to fig. 3 and 4, the vacuum dewatering adsorption system 4 of the present embodiment is structurally configured as follows:
the vacuum dewatering adsorption system 4 is composed of two symmetrical sucker buffer fixing devices 14 and a vacuum sucker 15, the vacuum sucker 15 is connected with a sucker connecting block 22 through a sucker fixing bolt 23, a spring pressing block 20 is fixed on a cross rod 16 through a fastening bolt 18, the pre-tightening bolt 17 is connected with the sucker connecting block 22, a spring 21, the spring pressing block 20 and the cross rod 16 in series, the pre-tightening bolt 17 is adjusted to adjust the pre-tightening force of the spring 21, so that the vacuum sucker 15 is tightly pressed on the wall surface of a ship, and the adhesion between the sucker and the wall surface of the ship can be ensured when obstacles cross, in addition, the vacuum sucker 15 is connected with a vacuum pipeline of external equipment to perform vacuumizing and dewatering, and the whole vacuum dewatering adsorption system 4 is fixed on one side of the front driving system 2 and the rear driving.
Referring to fig. 5, the paint spraying system 1 of the present embodiment is structurally configured as follows:
paint spraying system 1 is by paint nozzle 24, the lacquer pipe 25, paint nozzle mounting bracket 26, cross fixed block 27 and cross 28 are constituteed, three paint nozzle 24 equidistance equipartition in paint nozzle mounting bracket 26, through the bolt fastening, lacquer pipe 25 is connected with paint nozzle 24 and cross 28, the paint after the pressurization is through cross 28 evenly distributed to three paint nozzle 24, it is rust-resistant to spray paint the boats and ships wall of washing, paint nozzle mounting bracket 26 is fixed 5 both sides in back actuating system respectively with cross fixed block 27.
Referring to fig. 6 and 8, the front driving system 2 of the present embodiment is configured as follows:
the output shaft of the motor 34 is connected with the input end of the reducer 32, the motor 34 is a direct current servo motor, the fixing hole of the motor 34 is connected with the motor fixing block 33, the output end of the reducer 32 is connected with the coupler 30, the reducer 32 is a planetary gear reducer, the fixing hole of the reducer 32 is connected with the reducer fixing block 31 through a bolt, the output end of the coupler 30 is connected with the driving shaft 50, and the motor fixing block 33 and the reducer fixing block 31 are fastened on the transverse plate 35.
Referring to fig. 7 and 8, the left wheel-side traveling mechanism 3 of the present embodiment is structurally configured as follows:
the left wheel-side traveling mechanism 3 is driven by a chain wheel and a chain, a driving shaft 50 is in interference fit with a driving chain wheel 43 through a flat key and is connected with a plane bearing 44 and a needle bearing 46 in series, the driving chain wheel 43 is meshed with a bent plate chain 49, the needle bearing 46 is arranged in a bearing seat 45, the bearing seat 45 is fastened on a traveling mechanism outer transverse plate 53 through bolts, the needle bearing 46 is in transition fit with the driving shaft 50 to reduce the rotating friction resistance, the plane bearing 44 is in clearance fit with the driving shaft 50 and is tightly attached to the bearing seat 45 and the driving chain wheel 43 to reduce the friction resistance between the bearing seat 45 and the driving chain wheel 43, a driven shaft 48 is in interference fit with a bearing 39 and is connected with a snap spring 37, a gasket 38 and an air spring 47, the driven shaft 48 penetrates through sliding grooves of a traveling mechanism inner transverse plate 52 and a traveling mechanism outer transverse plate 53, the clamp spring 37 and the washer 38 limit the outer transverse plate 53 of the traveling mechanism, the driven sprocket 40 is in interference fit with the bearing 39 and is meshed with the bent plate chain 49, the threaded rod 42 is connected with the inner transverse plate 52 of the traveling mechanism, the outer transverse plate 53 of the traveling mechanism and one end of the gas spring 47, the gas spring 47 is in a compression state when two ends of the gas spring are fixed by the driven shaft 48 and the threaded rod 42 and can push the driven shaft 48 to drive the driven sprocket 40 to slide along the sliding groove, so that tensioning effect is generated on the chain, the gas spring 47 can effectively stretch and retract to change the tensioning degree of the chain to adapt to the change of the wall surface when obstacle crossing, the transverse fixing block 41 is connected with the inner transverse plate 52 of the traveling mechanism and the outer transverse plate 53 of the traveling mechanism, and the magnetic block 51 is fastened on each link of the.
The invention has been described in terms of preferred embodiments, but it is not intended to be limited to the disclosed embodiments, and it is intended that all technical alternatives, equivalents and permutations that can be obtained thereby are within the scope of the invention.

Claims (6)

1. The utility model provides a boats and ships rust cleaning integral type wall climbing robot that sprays paint, its structure includes paint spraying system (1), preceding driving system (2), left side wheel limit running gear (3), vacuum dewatering adsorption system (4), back actuating system (5), high pressure water jet rust cleaning system (6), right side wheel limit running gear (7), its characterized in that: the high-pressure water jet rust removal system (6) is connected with one side of the front driving system (2) through a height adjusting block (10), the vacuum water removal adsorption system (4) is respectively connected with one side of the front driving system (2) and one side of the rear driving system (5), the paint spraying system (1) is respectively fixed on two sides of the rear driving system (5) through a paint nozzle mounting frame (26) and a four-way fixing block (27), the left wheel edge walking mechanism (3) and the right wheel edge walking mechanism (7) are identical in structure, the left wheel edge walking mechanism (3) and the right wheel edge walking mechanism (7) are centrosymmetric about the vacuum water removal adsorption system (4), the left wheel edge walking mechanism (3) and the right wheel edge walking mechanism (7) are respectively connected with two ends of the front driving system (2) and the rear driving system (5) through small corner blocks (29), precursor system (2) and back actuating system (5) are connected with driving shaft (47) through shaft coupling (28), the two structures of precursor system (2) and back actuating system (5) are the same, and be central symmetry about vacuum dewatering adsorption system (4) between precursor system (2) and back actuating system (5), high pressure water jet rust cleaning system (6) wash total width more than or equal to robot automobile body width, vacuum chuck (15) diameter more than or equal to paint spraying system (1) spraying total width in vacuum dewatering adsorption system (4), paint spraying system (1) spraying total width less than or equal to high pressure water jet rust cleaning system (6) wash total width.
2. The integrated ship rust removing and paint spraying wall climbing robot as claimed in claim 1, characterized in that: a plurality of high pressure water nozzles (13) equipartition are in high pressure water nozzle installation side pipe (8) of symmetry in high pressure water jet rust cleaning system (6), high pressure water nozzle installation side pipe (8) are connected through high pressure water tee bend (11), high pressure water nozzle (13) wash the angle and highly adjust through angle adjusting block (9) and altitude mixture control piece (10).
3. The integrated ship rust removing and paint spraying wall climbing robot as claimed in claim 1, characterized in that: vacuum dewatering adsorption system (4) comprises sucking disc buffering fixing device (14) and vacuum chuck (15), sucking disc buffering fixing device (14) is by horizontal pole (16), pretension bolt (17), fastening bolt (18), big hornblock (19), spring briquetting (20), spring (21), sucking disc connecting block (22), sucking disc fixing bolt (23), vacuum chuck (15) are connected with sucking disc connecting block (22) through sucking disc fixing bolt (23), spring briquetting (20) are fixed at horizontal pole (16) through fastening bolt (18), pretension bolt (17) series connection sucking disc connecting block (22), spring (21), spring briquetting (20) and horizontal pole (16), adjust pretension bolt (17) adjustable spring (21) pretightning force, make vacuum chuck (15) sticis in the boats and ships wall.
4. The integrated ship rust removing and paint spraying wall climbing robot as claimed in claim 1, characterized in that: paint spraying system (1) comprises paint nozzle (24), lacquer pipe (25), paint nozzle mounting bracket (26), cross fixed block (27) and cross (28), a plurality of paint nozzle (24) equipartitions in paint nozzle mounting bracket (26) in paint spraying system (1), paint nozzle (24) are connected with cross (28) through lacquer pipe (25), and the paint pressurization gets into paint nozzle (24) and carries out the spraying.
5. The integrated ship rust removing and paint spraying wall climbing robot as claimed in claim 1, characterized in that: the front driving system (2) is characterized in that a motor (34) and a speed reducer (32) are connected with a motor fixing block (33), the motor fixing block (33) is fastened on a transverse plate (35), the speed reducer (32) is connected with a coupler (30) and a speed reducer fixing block (31), and the speed reducer fixing block (31) is fastened on the transverse plate (35).
6. The integrated ship rust removing and paint spraying wall climbing robot as claimed in claim 1, characterized in that: the left wheel-side travelling mechanism (3) consists of a locking bolt (36), a clamp spring (37), a gasket (38), a bearing (39), a driven sprocket (40), a transverse fixing block (41), a threaded rod (42), a driving sprocket (43), a planar bearing (44), a bearing seat (45), a needle bearing (46), an air spring (47), a driven shaft (48), a bent plate chain (49), a driving shaft (50), a magnetic block (51), a travelling mechanism inner transverse plate (52) and a travelling mechanism outer transverse plate (53), wherein the driving shaft (50) is in interference fit with the driving sprocket (43) through a flat key and is connected with the planar bearing (44) and the needle bearing (46) in series, the needle bearing (46) is arranged in the bearing seat (45), the bearing seat (45) is fastened on the travelling mechanism outer transverse plate (53) through a bolt, the driving sprocket (43) is meshed with the bent plate chain (49), the driven shaft (48) is in interference fit with the bearing (39) and is connected with the snap spring (37), the gasket (38) and the air spring (47), the driven shaft (48) transversely passes through sliding grooves of an inner transverse plate (52) and an outer transverse plate (53) of the traveling mechanism, the locking bolt (36) is arranged at two ends of the driven shaft (48) and fastens a gas spring (47), the clamp spring (37) and the gasket (38) limit the outer transverse plate (53) of the traveling mechanism, the driven sprocket (40) is in interference fit with the bearing (39), and is meshed with a bent plate chain (49), the threaded rod (42) is connected with an inner transverse plate (52) of the traveling mechanism, an outer transverse plate (53) of the traveling mechanism and one end of an air spring (47), the transverse fixing block (41) is connected with an inner transverse plate (52) of the traveling mechanism and an outer transverse plate (53) of the traveling mechanism, the magnetic blocks (51) are fastened on each chain link of the bent plate chain (49).
CN201811405809.7A 2018-11-19 2018-11-19 Ship rust removal and paint spraying integrated wall climbing robot Pending CN111196325A (en)

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Application Number Priority Date Filing Date Title
CN201811405809.7A CN111196325A (en) 2018-11-19 2018-11-19 Ship rust removal and paint spraying integrated wall climbing robot

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Application Number Priority Date Filing Date Title
CN201811405809.7A CN111196325A (en) 2018-11-19 2018-11-19 Ship rust removal and paint spraying integrated wall climbing robot

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111633565A (en) * 2020-06-09 2020-09-08 张家港江苏科技大学产业技术研究院 Robot for constructing outer surface of ship body
CN111644285A (en) * 2020-06-12 2020-09-11 刘伦宇 Hull rust removal paint spraying apparatus
CN111716371A (en) * 2020-06-30 2020-09-29 盐城工学院 Balanced type wind power column surface spraying automatic climbing robot
CN113753191A (en) * 2021-09-24 2021-12-07 中国电子科技集团公司第十四研究所 Wall-climbing robot for ship rust removal and paint spraying
CN114939495A (en) * 2022-06-08 2022-08-26 南通科钛机器人系统有限公司 Spraying robot with self-service climbing structure for ship surface machining
CN117184353A (en) * 2023-09-25 2023-12-08 江苏云洲智能科技有限公司 Wall climbing trolley for ship rust removal

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JPH0672364A (en) * 1992-08-25 1994-03-15 Hideji Nishiguchi Robot for wall surface running
CN201633804U (en) * 2009-11-03 2010-11-17 大连海事大学 Climbing robot for descaling ship walls
CN107117223A (en) * 2017-05-10 2017-09-01 深圳市行知行机器人技术有限公司 Ship wall-climbing robot for removing rust
CN108636666A (en) * 2018-07-20 2018-10-12 深圳聚纵科技有限公司 Ship derusts and synchronizes the equipment and its application method of spray paint
CN209410195U (en) * 2018-11-19 2019-09-20 南京农业大学 A kind of ship derusting spray painting integral type climbing robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH058768A (en) * 1991-06-28 1993-01-19 Nishimatsu Constr Co Ltd Wall surface peel-off robot
JPH0672364A (en) * 1992-08-25 1994-03-15 Hideji Nishiguchi Robot for wall surface running
CN201633804U (en) * 2009-11-03 2010-11-17 大连海事大学 Climbing robot for descaling ship walls
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CN111633565A (en) * 2020-06-09 2020-09-08 张家港江苏科技大学产业技术研究院 Robot for constructing outer surface of ship body
CN111644285A (en) * 2020-06-12 2020-09-11 刘伦宇 Hull rust removal paint spraying apparatus
CN111644285B (en) * 2020-06-12 2021-10-29 刘伦宇 Hull rust removal paint spraying apparatus
CN111716371A (en) * 2020-06-30 2020-09-29 盐城工学院 Balanced type wind power column surface spraying automatic climbing robot
CN113753191A (en) * 2021-09-24 2021-12-07 中国电子科技集团公司第十四研究所 Wall-climbing robot for ship rust removal and paint spraying
CN114939495A (en) * 2022-06-08 2022-08-26 南通科钛机器人系统有限公司 Spraying robot with self-service climbing structure for ship surface machining
CN117184353A (en) * 2023-09-25 2023-12-08 江苏云洲智能科技有限公司 Wall climbing trolley for ship rust removal
CN117184353B (en) * 2023-09-25 2024-05-24 江苏云洲智能科技有限公司 Wall climbing trolley for ship rust removal

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