CN111516771A - Magnetic wall climbing equipment for ship cleaning - Google Patents
Magnetic wall climbing equipment for ship cleaning Download PDFInfo
- Publication number
- CN111516771A CN111516771A CN202010244605.0A CN202010244605A CN111516771A CN 111516771 A CN111516771 A CN 111516771A CN 202010244605 A CN202010244605 A CN 202010244605A CN 111516771 A CN111516771 A CN 111516771A
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- robot
- magnetic wall
- vehicle body
- body frame
- frame
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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
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
Abstract
The utility model provides a magnetic force wall climbing equipment for boats and ships are abluent, includes swing arm formula magnetic force wall climbing robot, sucking disc formula magnetic force wall climbing robot and the supplementary frame of transporting of robot, through improving from driving wheel module to swing arm formula magnetic force wall climbing robot and sucking disc formula magnetic force wall climbing robot, makes from driving wheel module have interchangeability and convenient to use. The installation mode of the sensor of the swing arm type magnetic wall-climbing robot is improved, so that the position of the sensor is more convenient to adjust. Through improving the structure of the auxiliary transfer frame of the robot, the auxiliary transfer frame is more reliable to the safety protection and the transfer of equipment, the problems of the existing magnetic wall climbing equipment are solved, and the production requirement is met.
Description
Technical Field
The invention relates to the field of magnetic wall climbing ship cleaning, in particular to magnetic wall climbing equipment for ship cleaning.
Background
In the ship cleaning operation, since it is difficult for personnel and conventional equipment to reach the side surface of the ship or the like, a magnetic wall climbing device, that is, a magnetic wall climbing robot capable of climbing and traveling along the side surface of the ship, is often used. The existing magnetic wall climbing equipment generally comprises a swing arm type magnetic wall climbing robot, a sucker type magnetic wall climbing robot and a robot auxiliary transfer frame, wherein the two types of magnetic wall climbing robots can be adsorbed on the side surface of a ship through magnetic adsorption force generated by a built-in magnet, and then move through wheels of the robots, the swing arm type robots are connected with cleaning pipelines through swing rods capable of swinging, cleaning operation is carried out in the process that the robots walk and the cleaning pipelines swing in a reciprocating mode, the sucker type robots directly suck and clean the walking positions of the robots through suction type cleaning disks, different cleaning modes of the two types of robots are respectively suitable for the side surfaces of different positions and radians of the ship, the side surfaces of the ship can be effectively cleaned in a large coverage area through common operation of the two types of robots, and the robot auxiliary transfer frame is used for conveying the two types of robots, and the device is also used for conveying auxiliary equipment of an electric control cabinet and a hoisting mechanism which need to be matched with the robot for use.
The existing magnetic wall climbing equipment has various defects, so that the use is inconvenient. Firstly, two robots travel by matching a driving wheel module and a driven wheel module, and the two robots adopted in the prior art only have interchangeability of the driving wheel module, but the respective driven wheel modules are not universal, so that the overall manufacturing difficulty and manufacturing cost of the robot are improved, the maintenance and replacement of the driven wheel modules are inconvenient, different driven wheel module preparation parts need to be prepared for the two robots respectively in a production field, and the process adaptability is poor.
In addition, the conventional driven wheel module is configured such that a driven wheel magnet is mounted inside a wheel of a driven wheel, both sides of the wheel of the driven wheel are closed, and a rubber belt is fitted around the outer side of the wheel. The built-in structure of the driven wheel magnet leads to that the replacement and the rust removal of the driven wheel magnet are difficult, and personnel are difficult to adjust the magnetic gap of the driven wheel magnet, and the rubber wheel belt is difficult to install and easy to wear and has a short service life.
The swing arm type magnetic wall-climbing robot needs to control the swing range of a swing rod, in the prior art, two sensors are arranged on one side of the swing rod, the swing rod can only swing back and forth between the two sensors, and the swing range of the swing rod is limited by adjusting the distance between the two sensors. The existing structure is that two sensors are respectively arranged on a T-shaped plate through a plurality of small screws, all the small screws are required to be completely disassembled when the positions of the sensors are adjusted, and the small screws are screwed up again after the sensors are moved, so that the operation is very troublesome and inconvenient, the small screws and nuts are easily lost on a production site, and the production efficiency is influenced.
In addition, the supplementary transport frame of current robot is for lacking the open frame construction who encloses the fender, and the production site of boats and ships cleaning operation is outdoor places such as harbour and pier usually to the typhoon is rainy frequently, and open structure leads to equipment accessories such as the robot, automatically controlled cabinet and the hoist mechanism of placing on the frame to lack the protection and shelters from, and easy corrosion damage. The bottom of the existing frame is provided with two inflatable fixed wheels at the rear end, the front end is provided with two inflatable wheels through the matching of a pin shaft and a steering pull rod to realize steering, the structure is complex, the movement and the steering are both difficult, and the inflatable wheels are easily damaged by sharp objects on the production site and are difficult to replace after being damaged. When installing automatically controlled cabinet on current frame, what adopt is with automatically controlled cabinet hoist and mount structure on frame top crossbeam, can cause automatically controlled cabinet to produce extra jolt vibrations in the motion process of frame, great to the box and the inside components and parts harm of automatically controlled cabinet, be difficult to transport automatically controlled cabinet for a long time safely.
Disclosure of Invention
In order to solve the problem that the existing magnetic wall climbing equipment is inconvenient to use due to various defects, the invention provides the magnetic wall climbing equipment for cleaning the ship.
The technical scheme adopted by the invention for solving the technical problems is as follows: a magnetic wall climbing device for ship cleaning comprises a swing arm type magnetic wall climbing robot, a sucker type magnetic wall climbing robot and a robot auxiliary transfer frame, wherein the swing arm type magnetic wall climbing robot comprises a vehicle body frame, two driving wheel modules are symmetrically arranged on two sides of the vehicle body frame, a driven wheel module is arranged at the bottom of the vehicle body frame, a swing rod module is arranged on the top side of the vehicle body frame, and an electric control box is further arranged on the vehicle body frame;
the driving wheel module comprises a shell connected with the vehicle body frame, and a driving wheel, a power transmission assembly for driving the driving wheel to rotate and a driving wheel magnet for generating magnetic adsorption force with a working surface on which the driving wheel runs are arranged in the shell;
the driven wheel module comprises a mounting plate connected with the bottom of the vehicle body frame, one side of the mounting plate, which is far away from the vehicle body frame, is connected with two universal driven wheels, a driven wheel magnet used for generating magnetic adsorption force with a working surface on which the universal driven wheels run is arranged between the two universal driven wheels, a plurality of magnetic gap adjusting bolts penetrate through the driven wheel magnet, one side of the mounting plate, which is far away from the vehicle body frame, is connected with a magnet supporting seat, and the plurality of magnetic gap adjusting bolts are all connected to the magnet supporting seat so as to adjust the magnetic gap of the driven wheel magnet;
the swing rod module comprises a rotating shaft, a motor for driving the rotating shaft to rotate, a swing rod connected with the rotating shaft and a sensor assembly for monitoring the rotating angle of the swing rod, wherein the sensor assembly comprises two sensors, two transition plates and a T-shaped plate, the two sensors are respectively installed on the respective transition plate through a plurality of connecting bolts, respective knurled bolts are respectively penetrated through the two transition plates, one side of the T-shaped plate is sleeved on the rotating shaft and is fixedly arranged relative to the vehicle body frame, one side of the T-shaped plate, which is far away from the rotating shaft, is provided with a chute, the two transition plates are arranged on the T-shaped plate, and all the connecting bolts and the knurled bolts are penetrated through the respective chutes, so that the distance between the two sensors can be adjusted, and the displacement between the transition plates and the T-shaped plate can be limited by screwing nuts on the knurled bolts;
the sucking disc type magnetic wall-climbing robot comprises a vehicle body frame, two driving wheel modules with the same structure as that of a driving wheel module of a swing arm type magnetic wall-climbing robot are symmetrically arranged on two sides of the vehicle body frame, a driven wheel module with the same structure as that of a driven wheel module of the swing arm type magnetic wall-climbing robot is arranged at the bottom of the vehicle body frame, a suction type cleaning disc is further arranged at the bottom of the vehicle body frame, and an electric control box is further arranged on the vehicle body frame;
the robot-assisted transfer frame comprises a transfer vehicle frame body, a robot transfer box is arranged on the transfer vehicle frame body, the robot transfer box is a rectangular box structure formed by a plurality of stainless steel plates and prisms of the transfer vehicle frame body in a matched and welded mode, a double-open door plate is arranged on one side of the robot transfer box, an electric control cabinet is placed inside the robot transfer box, a plurality of electric control cabinet mounting upright columns are welded inside the robot transfer box, and the back face of the electric control cabinet is fixedly attached to the surfaces of the electric control cabinet mounting upright columns; the bottom of the transfer trolley frame body is provided with a bottom plate, four wheels are arranged at four corners of the lower surface of the bottom plate, wherein two wheels positioned on one side of the transfer trolley frame body are fixed casters, and two wheels positioned on the other side of the transfer trolley frame body are universal casters with a block; the hoisting mechanism is placed on the bottom plate and located below the robot transfer box, a plurality of hooks are arranged on the edge of the bottom side of the robot transfer box, canvas is hung on the hooks in a matching mode, and the canvas is used for surrounding and blocking the hoisting mechanism along the periphery of the transfer vehicle frame body.
Preferably, the driven wheel magnet is limited to be separated from the magnet supporting seat by the head of the magnetic gap adjusting bolt matching with a nut screwed on the magnetic gap adjusting bolt.
Preferably, the axis of the rotating shaft is perpendicular to the axis of the driving wheel, and the axis of the swinging rod is parallel to the axis of the driving wheel.
Preferably, connecting bolts are respectively arranged at four corners of the sensor in a penetrating mode, two knurled bolts are arranged on the transition plate in a penetrating mode, and the two knurled bolts are symmetrically arranged relative to the sensor.
Preferably, a protection fence for binding the safety rope is arranged on a vehicle body frame of the swing arm type magnetic wall-climbing robot, the protection fence is of a bent tubular structure, and a bent convex part of the protection fence is positioned on one side of the swing rod, which is far away from the vehicle body frame.
Preferably, a stop lever for binding the safety rope is arranged on a vehicle body frame of the suction disc type magnetic wall-climbing robot, and the suction type cleaning disc is connected with a suction tube and a high-pressure water tube.
Preferably, lifting lugs are respectively installed at four corners of the top end of the transfer trolley frame body.
Preferably, the transfer trolley frame body is a frame structure formed by welding channel steel and angle steel
Preferably, two hoisting mechanisms are placed on the bottom plate, a cable of one of the hoisting mechanisms is connected with the swing arm type magnetic wall-climbing robot, and a cable of the other hoisting mechanism is connected with the sucker type magnetic wall-climbing robot.
According to the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the driven wheel modules with the same structure are adopted on the two magnetic wall-climbing robots, so that the interchangeability of the two driven wheel modules is ensured, the overall manufacturing difficulty and manufacturing cost of the robot are reduced, and only one driven wheel module spare part is required to be prepared on a production site to be used as a reserve for maintenance and replacement, so that the maintenance and replacement of the driven wheel module are more convenient, and the overall process adaptability of the magnetic wall-climbing equipment is improved.
2. The driven wheel module adopts two universal driven wheels, and the driven wheel magnet is arranged between the two universal driven wheels, so that the driven wheel magnet is exposed and arranged, and the original structure that the driven wheel magnet is positioned in the driven wheel is changed, therefore, the driven wheel magnet is more convenient to replace and remove rust, personnel can directly touch and adjust the driven wheel magnet under the condition of not disassembling the driven wheel module, and the magnetic gap of the driven wheel magnet can be adjusted through the magnetic gap adjusting bolt; and the installation degree of difficulty of universal driven wheel is lower than the rubber tyre that has adopted now, and universal driven wheel is also more wear-resisting, and life is longer than the rubber tyre.
3. According to the invention, the sensors are arranged on the transition plate through the connecting bolts, the transition plate is arranged on the T-shaped plate through the knurled bolts, the sliding groove is formed in the T-shaped plate, and when the positions of the two sensors are required to be adjusted, the sensors can move along the sliding groove along with the transition plate only by loosening the knurled bolts. Compared with the prior art in which a plurality of small screws need to be disassembled, the small screws do not need to be completely disassembled from the sensor, the loss of the screws and the nuts can be avoided, the number of the knurled bolts which need to be screwed when one sensor is moved is inevitably smaller than the number of the small screws which need to be disassembled originally, the knurled bolts are easier to screw than the common small screws due to the fact that the head portions of the knurled bolts are provided with knurls, the operation process of moving the sensor is greatly simplified, and the production efficiency is improved.
4. The robot-assisted transfer vehicle frame is provided with the robot transfer box and the canvas on the structure of the transfer vehicle frame body, so that the transfer vehicle frame body is changed from the existing open structure into a closed structure, the auxiliary parts of the equipment, such as a robot, an electric control cabinet, a hoisting mechanism and the like, placed on the frame can be protected and shielded, the corrosion and damage of the equipment are avoided, and the double-door structure of the robot transfer box and the structure that the canvas is installed through the hook are very easy to open, so that the equipment can be conveniently accessed on the auxiliary transfer vehicle frame. The auxiliary transfer frame is moved and steered by matching the two fixed casters with the two universal caster wheels with the stop blocks, and compared with the conventional frame which adopts the inflatable fixed wheels matched with the pin shafts and the steering pull rods, the auxiliary transfer frame not only simplifies the mounting structure of wheels, but also enables the frame to be moved and steered more conveniently and lightly, and avoids the defects that the original inflatable wheels are easy to damage and difficult to replace. According to the robot transfer box, the electric control cabinet is directly placed in the robot transfer box instead of being hoisted on the cross beam, the back surface of the electric control cabinet is attached and fixed to the surface of the electric control cabinet mounting upright column, the electric control cabinet and the auxiliary transfer frame are relatively fixed and mounted, the electric control cabinet cannot generate extra jolting vibration in the movement process of the frame, the defect that the box body and internal components of the electric control cabinet are easily damaged in the original hoisting mode is overcome, the robot transfer box is more suitable for safely conveying the electric control cabinet for a long time, and production requirements are met.
Drawings
FIG. 1 is a schematic structural diagram of a swing arm type magnetic wall-climbing robot;
FIG. 2 is an exploded view of the swing arm type magnetic wall-climbing robot;
FIG. 3 is a schematic structural diagram of a driven wheel module;
FIG. 4 is another schematic view of the driven wheel module;
FIG. 5 is a schematic structural diagram of a swing link module;
FIG. 6 is a schematic structural view of a sensor assembly;
FIG. 7 is a schematic structural diagram of a suction cup type magnetic wall-climbing robot;
FIG. 8 is an exploded view of the suction cup type magnetic wall-climbing robot;
FIG. 9 is a schematic view of a robot assisted transfer carriage, shown without canvas;
FIG. 10 is a schematic view of the robot assisted transfer vehicle frame after opening the door, shown without canvas;
FIG. 11 is a schematic structural view of the robot-assisted transfer trolley frame after opening the door, and an electric control cabinet is not shown in the figure;
FIG. 12 is a schematic side view of a robotic assisted transfer frame, shown without canvas;
fig. 13 is a schematic cross-sectional view along a-a of fig. 12.
The labels in the figure are: 1. the device comprises a vehicle body frame, 2, an electric control box, 3, a shell, 4, a driving wheel, 5, a mounting plate, 6, a universal driven wheel, 7, a driven wheel magnet, 8, a magnetic gap adjusting bolt, 9, a magnet supporting seat, 10, a rotating shaft, 11, a motor, 12, a swinging rod, 13, a sensor, 14, a transition plate, 15, a connecting bolt, 16, a knurled bolt, 17, a T-shaped plate, 18, a sliding groove, 19, a protective fence, 20, a suction type cleaning disc, 21, a stop lever, 22, a suction pipe, 23, a high-pressure water pipe, 24, a transfer vehicle frame body, 25, a robot transfer box, 26, a double-open door plate, 27, an electric control cabinet mounting upright post, 28, a bottom plate, 29, a fixed caster, 30, a universal belt block caster, 31, a hoisting mechanism, 32, a hook, 33, canvas, 34 and.
Detailed Description
Referring to the drawings, the specific embodiments are as follows:
the utility model provides a magnetic force wall climbing equipment for boats and ships are abluent, includes swing arm formula magnetic force wall climbing robot, sucking disc formula magnetic force wall climbing robot and the supplementary frame of transporting of robot, swing arm formula magnetic force wall climbing robot includes a body frame 1, and two action wheel modules are installed to body frame 1's bilateral symmetry, and from the driving wheel module is installed to body frame 1's bottom, and the pendulum rod module is installed to body frame 1's top side, still installs automatically controlled box 2 on body frame 1.
As shown in fig. 1, 2, 7 and 8, the driving wheel module includes a housing 3 connected to the vehicle body frame 1, and a driving wheel 4, a power transmission assembly for driving the driving wheel 4 to rotate, and a driving wheel magnet for generating a magnetic attraction force with a working surface on which the driving wheel 4 travels are installed in the housing 3.
As shown in fig. 1, 2, 3, 4, from the mounting panel 5 that driving wheel module includes one and is connected with automobile body frame 1 bottom, one side that automobile body frame 1 was kept away from to mounting panel 5 is connected with two universal follow driving wheels 6, two universal follow driving wheels 6 between be equipped with be used for with the universal follow driving wheel magnet 7 of producing magnetic attraction between the working face that traveles from driving wheel 6, wear to be equipped with a plurality of magnetic gap adjusting bolt 8 from driving wheel magnet 7, one side that automobile body frame 1 was kept away from to mounting panel 5 is connected with magnet supporting seat 9, a plurality of magnetic gap adjusting bolt 8 all connect on magnet supporting seat 9, so that the adjustment is from the magnetic gap of driving wheel magnet 7, screw up the nut cooperation restriction of establishing on head and the magnetic gap adjusting bolt 8 through magnetic gap adjusting bolt 8 and separate from driving wheel.
As shown in fig. 1, 2, 5, and 6, the swing link module includes a rotating shaft 10, a motor 11 for driving the rotating shaft 10 to rotate, a swing link 12 connected to the rotating shaft 10, and a sensor assembly for monitoring a rotation angle of the swing link 12, wherein an axis of the rotating shaft 10 is perpendicular to an axis of the driving wheel 4, and an axis of the swing link 12 is parallel to an axis of the driving wheel 4. The sensor assembly comprises two sensors 13, two transition plates 14 and a T-shaped plate 17, the two sensors 13 are respectively installed on the respective transition plate 14 through a plurality of connecting bolts 15, the two transition plates 14 are respectively provided with respective knurled bolts 16 in a penetrating mode, in the embodiment, the four corners of the sensors 13 are respectively provided with the connecting bolts 15 in a penetrating mode, the transition plates 14 are provided with the two knurled bolts 16 in a penetrating mode, and the two knurled bolts 16 are symmetrically arranged relative to the sensors 13. One side of the T-shaped plate 17 is sleeved on the rotating shaft 10 and fixedly arranged relative to the vehicle body frame 1, one side, far away from the rotating shaft 10, of the T-shaped plate 17 is provided with a sliding groove 18, the two transition plates 14 are all placed on the T-shaped plate 17, all the connecting bolts 15 and the knurled bolts 16 are all arranged in the respective sliding grooves 18 in a penetrating mode, so that the distance between the two sensors 13 can be adjusted, and the nut on the knurled bolt 16 is screwed down to limit the displacement between the transition plates 14 and the T-shaped plate 17.
As shown in fig. 7 and 8, the suction cup type magnetic wall-climbing robot includes a vehicle body frame 1, two driving wheel modules having the same structure as the driving wheel module of the swing arm type magnetic wall-climbing robot are symmetrically installed on two sides of the vehicle body frame 1, a driven wheel module having the same structure as the driven wheel module of the swing arm type magnetic wall-climbing robot is installed on the bottom of the vehicle body frame 1, a suction type cleaning disc 20 is further installed on the bottom of the vehicle body frame 1, and an electric control box 2 is further installed on the vehicle body frame 1.
As shown in fig. 9-13, the robot assisted transfer frame includes a transfer vehicle frame body 24, the transfer vehicle frame body 24 is a frame structure formed by welding channel steel and angle steel, and lifting lugs 34 are respectively installed at four corners of the top end of the transfer vehicle frame body 24. A robot transfer box 25 is arranged on the transfer vehicle frame body 24, the robot transfer box 25 is a rectangular box body structure formed by matching and welding a plurality of stainless steel plates and a prism of the transfer vehicle frame body 24, a double-open door plate 26 is arranged on one side of the robot transfer box 25, an electric control cabinet is placed in the robot transfer box 25, a plurality of electric control cabinet mounting upright posts 27 are welded in the robot transfer box 25, and the back of the electric control cabinet is fixedly attached to the surfaces of the electric control cabinet mounting upright posts 27; the bottom of the transfer vehicle frame body 24 is provided with a bottom plate 28, four wheels are arranged at four corners of the lower surface of the bottom plate 28, wherein two wheels positioned at one side of the transfer vehicle frame body 24 are fixed casters 29, and two wheels positioned at the other side of the transfer vehicle frame body 24 are universal casters 30 with a stop block; two hoisting mechanisms 31 are placed on the bottom plate 28, a cable of one of the hoisting mechanisms 31 is connected with the swing arm type magnetic wall-climbing robot, a cable of the other hoisting mechanism 31 is connected with the suction disc type magnetic wall-climbing robot, the hoisting mechanism 31 is positioned below the robot transfer box 25, a plurality of hooks 32 are arranged on the bottom side edge of the robot transfer box 25, canvas 33 is hung on the hooks 32 in a matching manner, and the hoisting mechanism 31 is surrounded and blocked along the periphery of the transfer vehicle frame body 24 through the canvas 33.
In this embodiment, a protection fence 19 for binding a safety rope is disposed on the vehicle body frame 1 of the swing arm type magnetic wall-climbing robot, the protection fence 19 is of a curved tubular structure, and a curved protruding portion of the protection fence 19 is located on one side of the swing rod 12 away from the vehicle body frame 1. When the existing equipment is used, the safety rope is lower in position, and when the robot turns and goes backwards, the safety rope is often pressed or hung by wheels, and workers are required to form a high-altitude vehicle for adjustment. This embodiment has increased guard rail 19 back in the top of the robot keeping away from automobile body frame 1 one side, puts the mounting point of safety rope in the highest place, has solved the problem that safety rope and wheel interfere. In this embodiment, the car body frame 1 of the suction cup type magnetic wall-climbing robot is provided with a stop lever 21 for binding a safety rope, and the suction cleaning plate 20 is connected with a suction pipe 22 and a high-pressure water pipe 23.
Claims (9)
1. The utility model provides a magnetic force wall climbing equipment for boats and ships are abluent which characterized in that: the swing arm type magnetic wall-climbing robot comprises a swing arm type magnetic wall-climbing robot, a sucker type magnetic wall-climbing robot and a robot auxiliary transfer vehicle frame, wherein the swing arm type magnetic wall-climbing robot comprises a vehicle body frame (1), two driving wheel modules are symmetrically installed on two sides of the vehicle body frame (1), a driven wheel module is installed at the bottom of the vehicle body frame (1), a swing rod module is installed on the top side of the vehicle body frame (1), and an electric control box (2) is further installed on the vehicle body frame (1);
the driving wheel module comprises a shell (3) connected with the vehicle body frame (1), and a driving wheel (4), a power transmission assembly for driving the driving wheel (4) to rotate and a driving wheel magnet for generating magnetic adsorption force with a working surface on which the driving wheel (4) runs are arranged in the shell (3);
the driven wheel module comprises a mounting plate (5) connected with the bottom of a vehicle body frame (1), one side, away from the vehicle body frame (1), of the mounting plate (5) is connected with two universal driven wheels (6), a driven wheel magnet (7) used for generating magnetic adsorption force with a working surface on which the universal driven wheels (6) run is arranged between the two universal driven wheels (6), a plurality of magnetic gap adjusting bolts (8) penetrate through the driven wheel magnet (7), one side, away from the vehicle body frame (1), of the mounting plate (5) is connected with a magnet supporting seat (9), and the plurality of magnetic gap adjusting bolts (8) are all connected to the magnet supporting seat (9) so as to adjust the magnetic gap of the driven wheel magnet (7);
the swing rod module comprises a rotating shaft (10), a motor (11) used for driving the rotating shaft (10) to rotate, a swing rod (12) connected with the rotating shaft (10) and a sensor assembly used for monitoring the rotating angle of the swing rod (12), wherein the sensor assembly comprises two sensors (13), two transition plates (14) and a T-shaped plate (17), the two sensors (13) are respectively installed on the respective transition plate (14) through a plurality of connecting bolts (15), the two transition plates (14) are respectively provided with respective knurled bolts (16) in a penetrating manner, one side of the T-shaped plate (17) is sleeved on the rotating shaft (10) and is fixedly arranged relative to the vehicle body frame (1), one side of the T-shaped plate (17) far away from the rotating shaft (10) is provided with a sliding groove (18), the two transition plates (14) are both placed on the T-shaped plate (17) and all the connecting bolts (15) and the knurled bolts (16) are all arranged in the respective sliding grooves (18) in a penetrating manner, so as to adjust the distance between the two sensors (13), by tightening the nut on the knurled screw (16) to limit the displacement between the transition plate (14) and the T-shaped plate (17);
the sucking disc type magnetic wall-climbing robot comprises a vehicle body frame (1), two driving wheel modules with the same structure as a driving wheel module of a swing arm type magnetic wall-climbing robot are symmetrically installed on two sides of the vehicle body frame (1), a driven wheel module with the same structure as a driven wheel module of the swing arm type magnetic wall-climbing robot is installed at the bottom of the vehicle body frame (1), a suction type cleaning disc (20) is further installed at the bottom of the vehicle body frame (1), and an electric control box (2) is further installed on the vehicle body frame (1);
the robot-assisted transfer frame comprises a transfer vehicle frame body (24), a robot transfer box (25) is arranged on the transfer vehicle frame body (24), the robot transfer box (25) is a rectangular box body structure formed by matching and welding a plurality of stainless steel plates and prisms of the transfer vehicle frame body (24), a double-open door plate (26) is arranged on one side of the robot transfer box (25), an electric control cabinet is placed in the robot transfer box (25), a plurality of electric control cabinet mounting upright columns (27) are welded in the robot transfer box (25), and the back surface of the electric control cabinet is fixedly attached to the surfaces of the electric control cabinet mounting upright columns (27); a bottom plate (28) is arranged at the bottom of the transfer vehicle frame body (24), four wheels are arranged at four corners of the lower surface of the bottom plate (28), wherein two wheels positioned at one side of the transfer vehicle frame body (24) are fixed casters (29), and two wheels positioned at the other side of the transfer vehicle frame body (24) are universal casters with blocking blocks (30); the hoisting mechanism (31) is placed on the bottom plate (28), the hoisting mechanism (31) is located below the robot transfer box (25), a plurality of hooks (32) are arranged on the bottom side edge of the robot transfer box (25), canvas (33) is hung on the hooks (32) in a matching mode, and the hoisting mechanism (31) is surrounded and blocked along the periphery of the transfer vehicle frame body (24) through the canvas (33).
2. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: the separation of the driven wheel magnet (7) and the magnet supporting seat (9) is limited by the matching of the head of the magnetic gap adjusting bolt (8) and a nut screwed on the magnetic gap adjusting bolt (8).
3. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: the axial line of the rotating shaft (10) is vertical to the axial line of the driving wheel (4), and the axial line of the swinging rod (12) is parallel to the axial line of the driving wheel (4).
4. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: connecting bolts (15) penetrate through four corners of the sensor (13) respectively, two knurled bolts (16) penetrate through the transition plate (14), and the two knurled bolts (16) are symmetrically arranged relative to the sensor (13).
5. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: the swing arm type magnetic wall-climbing robot is characterized in that a protective fence (19) used for binding a safety rope is arranged on a vehicle body frame (1) of the swing arm type magnetic wall-climbing robot, the protective fence (19) is of a bent tubular structure, and a bent protruding portion of the protective fence (19) is located on one side, away from the vehicle body frame (1), of a swing rod (12).
6. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: the sucking disc type magnetic wall-climbing robot is characterized in that a stop rod (21) used for binding a safety rope is arranged on a vehicle body frame (1), and a suction pipe (22) and a high-pressure water pipe (23) are connected to the suction type cleaning disc (20).
7. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: lifting lugs (34) are respectively installed at four corners of the top end of the transfer trolley frame body (24).
8. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: the transfer trolley frame body (24) is of a frame structure formed by welding channel steel and angle steel.
9. A magnetic wall climbing equipment for cleaning ships according to claim 1, characterized in that: two hoisting mechanisms (31) are arranged on the bottom plate (28), a cable of one hoisting mechanism (31) is connected with the swing arm type magnetic wall-climbing robot, and a cable of the other hoisting mechanism (31) is connected with the suction disc type magnetic wall-climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010244605.0A CN111516771A (en) | 2020-03-31 | 2020-03-31 | Magnetic wall climbing equipment for ship cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010244605.0A CN111516771A (en) | 2020-03-31 | 2020-03-31 | Magnetic wall climbing equipment for ship cleaning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111516771A true CN111516771A (en) | 2020-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010244605.0A Pending CN111516771A (en) | 2020-03-31 | 2020-03-31 | Magnetic wall climbing equipment for ship cleaning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111516771A (en) |
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| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
| CN114834606A (en) * | 2022-03-28 | 2022-08-02 | 深圳市行知行机器人技术有限公司 | Wall-climbing cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113212060A (en) * | 2021-06-15 | 2021-08-06 | 北京博清科技有限公司 | Magnetic wheel and wall-climbing robot |
| CN113212060B (en) * | 2021-06-15 | 2023-02-21 | 北京博清科技有限公司 | Magnetic wheel and wall-climbing robot |
| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
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Application publication date: 20200811 |