CN111890238A - Crawler belt magnetic walking mechanism and ship rust removal robot - Google Patents
Crawler belt magnetic walking mechanism and ship rust removal robot Download PDFInfo
- Publication number
- CN111890238A CN111890238A CN202010783214.6A CN202010783214A CN111890238A CN 111890238 A CN111890238 A CN 111890238A CN 202010783214 A CN202010783214 A CN 202010783214A CN 111890238 A CN111890238 A CN 111890238A
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- CN
- China
- Prior art keywords
- crawler belt
- magnetic
- support
- electromagnets
- walking mechanism
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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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
Abstract
The invention provides a crawler magnetic walking mechanism and a ship rust removing robot, and belongs to the technical field of ship cleaning. The technical problems that a magnetic walking mechanism is poor in walking capability on a ship body, the derusting efficiency of a derusting robot is low and the like are solved. The crawler belt magnetic walking mechanism comprises a support, guide wheels are arranged at positions, close to two ends, of two sides of the support, a crawler belt is sleeved on the two guide wheels on each side of the support, a plurality of electromagnets are arranged on the inner side of the crawler belt, a plurality of soft magnetic blocks are arranged on each side of the support, and a power supply and a control circuit are arranged on the support; a ship rust removal robot comprises at least two crawler belt magnetic walking mechanisms which are sequentially arranged from front to back, wherein two adjacent crawler belt magnetic walking mechanisms are connected through a telescopic piece, and a sand washing spray head is arranged on a support. In the invention, the rust can fall off from the electromagnet and the soft magnetic block, so that the walking capability of the magnetic walking mechanism is improved; the telescopic piece enables the ship rust removing robot to adapt to radian changes of the ship body, and the rust removing efficiency of the ship rust removing robot is improved.
Description
Technical Field
The invention belongs to the technical field of hull cleaning, and relates to a crawler belt magnetic walking mechanism and a ship rust removing robot.
Background
The surface of a large-sized iron object is easy to rust, for example, a ship, in order to prolong the service life of the ship, the surface of the ship is generally subjected to rust removal treatment, the existing rust removal modes comprise high-pressure water jet rust removal, sand blasting rust removal, polishing rust removal and the like, a plurality of rust removal devices are installed on a magnetic travelling mechanism, the combination of the magnetic travelling mechanism and the rust removal devices forms a ship rust removal robot, and the magnetic travelling mechanism can be adsorbed on the ship body and can travel, so that the rust removal devices can be driven to move on the ship body for rust removal.
Chinese patent (publication number: CN 208215058U; publication date: 2018-12-11) discloses a wall-climbing rust removal robot, which comprises a shell, a base, permanent magnets and rollers, wherein the upper surface of the base is fixedly provided with the shell, a polishing device is arranged in the base, the shell is of a hollow structure, a paint spraying device, a slag removing device and a cleaning device are sequentially arranged in the shell from left to right, the lower surface of the shell is fixedly provided with the two mutually symmetrical permanent magnets, the side wall of the base is provided with two pairs of rollers which are symmetrically arranged, the rollers are driven by a power system, and the power system drives the moving direction to move from the paint spraying device to the cleaning device.
The casing that has permanent magnet and driving system among the wall-climbing rust cleaning robot that above-mentioned patent document discloses is magnetic force running gear, adopts the permanent magnet to adsorb on the hull here, and the permanent magnet can adsorb a large amount of iron rust that gets rid of in work to make magnetic force running gear normally walk, here wall-climbing rust cleaning robot only can walk on the plane, meets the position that has the slope and just can not remove the rust, thereby leads to wall-climbing rust cleaning robot's rust cleaning efficiency lower.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a crawler magnetic walking mechanism and a ship derusting robot, and the technical problems to be solved by the invention are as follows: how to improve the walking ability of the magnetic walking mechanism on the ship body and improve the derusting efficiency of the derusting robot.
The purpose of the invention can be realized by the following technical scheme:
the crawler belt magnetic walking mechanism comprises a support and is characterized in that guide wheels are arranged at positions, close to two ends, of two sides of the support, a crawler belt is sleeved on the two guide wheels on each side of the support, a plurality of electromagnets are arranged on the inner side of the crawler belt, a plurality of soft magnetic blocks are arranged on each side of the support, a power supply for supplying power to the electromagnets and a control circuit for controlling the electromagnets to be electrified or not are further arranged on the support, and the control circuit is electrically connected with the power supply.
The working principle is as follows: utilize control circuit to energize for a plurality of electro-magnet in proper order among this technical scheme, thereby realize the rotation of track relative support, the support can utilize the track to realize forward removal promptly, also can guarantee all the time that soft magnetic block is magnetized, form closed magnetic circuit between soft magnetic path and the hull on two relative electro-magnets and corresponding supports on two tracks, when some electro-magnets do not energize, some soft magnetic path are not magnetized, adsorb the rust on these electro-magnets and soft magnetic block and can break away from, thereby guarantee track magnetic force running gear adsorb on the hull and can normally walk on the hull all the time, compare with prior art, magnetic force running gear's walking ability on the hull has obtained the improvement.
In the magnetic walking mechanism for the crawler belt, the position of the soft magnetic block on each side of the support corresponds to the position of the electromagnet on the inner side of the crawler belt. And the corresponding closed magnetic circuit can be smoothly formed when the two electromagnets corresponding to the two tracks are electrified.
In the magnetic walking mechanism for the crawler belt, the crawler belt comprises a flat crawler belt section positioned between the two guide wheels and a semi-arc crawler belt section connected with the two guide wheels, the electromagnets on the inner side of the flat crawler belt section and the soft magnetic blocks on the corresponding support are arranged in parallel along a plane at intervals, and the electromagnets on the inner side of the semi-arc crawler belt section and the soft magnetic blocks on the corresponding support are arranged in intervals along an arc surface and arranged around the circle center of the section of the semi-arc crawler belt section. When the electromagnet is electrified, the corresponding soft magnetic block can be normally magnetized, so that the crawler belt magnetic walking mechanism can normally walk on the ship body.
In the magnetic walking mechanism for the crawler belt, the number of the electromagnets on each equidistant unit length on the flat crawler belt section is one more than the number of the soft magnetic blocks on the corresponding bracket, and the number of the electromagnets on the inner side of the semi-arc crawler belt section is one more than the number of the soft magnetic blocks on the corresponding bracket. Three electromagnets are arranged on the upper flat crawler belt section at equal intervals in unit length, and two electromagnets are arranged on the corresponding support, so that the crawler belt magnetic walking mechanism can normally walk on the ship body.
In the magnetic walking mechanism for the crawler belt, rotating shafts are arranged at the positions, close to the two ends, of the two sides of the support, and each guide wheel is connected with the support through the rotating shaft. The rotating shaft enables the bracket and the guide wheel to move simultaneously.
A ship rust removing robot is characterized by comprising at least two crawler belt magnetic traveling mechanisms according to any one of claims 1 to 5, wherein a sand washing nozzle is arranged on each support on each crawler belt magnetic traveling mechanism, and at least two crawler belt magnetic traveling mechanisms are sequentially arranged in the front and at the back and are connected with each other through a telescopic piece. The ship rust removing robot can adapt to the radian change of a ship body during rust removal by utilizing the telescopic piece, so that the rust removing efficiency is improved.
In the ship rust removing robot, the telescopic piece is an air cylinder or an electric cylinder. The cylinder and the electric cylinder both have the advantage of long service life.
Compared with the prior art, the invention has the following advantages:
1. according to the crawler belt magnetic walking mechanism, the electromagnets are sequentially electrified, so that the soft magnetic blocks are always magnetized, when the electromagnets are not electrified and the soft magnetic blocks are not magnetized, rust adsorbed on the electromagnets and the soft magnetic blocks can fall off, interference of the rust on the electromagnets and the soft magnetic blocks is avoided, the crawler belt magnetic walking mechanism can be always adsorbed on a ship body, and the walking capability of the magnetic walking mechanism on the ship body is improved.
2. The ship rust removing robot provided with the telescopic piece can be more suitable for radian changes of a ship body, rust can be removed on a plane, also on an arc surface or a slope surface, and the rust removing efficiency of the rust removing robot is improved.
Drawings
Fig. 1 is a first structural schematic diagram of a first crawler belt magnetic walking mechanism in the first embodiment.
Fig. 2 is a cross-sectional view at a-a in fig. 1.
Fig. 3 is a schematic structural diagram of a second crawler magnetic walking mechanism in the first embodiment.
Fig. 4 is a schematic structural diagram of the ship rust removing robot in the second embodiment.
In the figure, 1, a bracket; 2. a guide wheel; 3. a crawler belt; 31. leveling the track section; 32. a half arc track segment; 4. an electromagnet; 5. a soft magnetic block; 6. a rotating shaft; 7. a sand washing spray head; 8. a telescoping member.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The first embodiment is as follows:
as shown in fig. 1 to 3, the magnetic crawler traveling mechanism in this embodiment includes a frame 1, two rotating shafts 6 are provided on each of two sides of the frame 1, the two rotating shafts 6 on each side of the frame 1 are spaced apart from each other at positions close to two ends of the frame 1, a guide wheel 2 is provided on each rotating shaft 6, a crawler 3 is sleeved on each of the two guide wheels 2 on each side of the frame 1, the crawler 3 is made of a non-ferromagnetic material, a plurality of electromagnets 4 are provided on an inner side of each crawler 3, a plurality of soft magnetic blocks 5 are provided on each side of the frame 1, the positions of the soft magnetic blocks 5 provided on each side of the frame 1 correspond to the positions of the electromagnets 4 of the corresponding crawler 3, each crawler 3 includes a flat crawler section 31 located between the two corresponding guide wheels 2 and a semi-arc crawler section 32 attached to the two corresponding guide wheels 2, the electromagnets 4 on the ends of the flat crawler 3 and the soft magnetic blocks 5 on the corresponding frame 1 are spaced apart from each other in, the electromagnets 4 on the semi-arc track sections 32 and the soft magnetic blocks 5 on the corresponding support 1 are distributed at intervals along the arc surface, the electromagnets 4 on the semi-arc track sections 32 and the soft magnetic blocks 5 on the corresponding support 1 are distributed at intervals around the circle center of the cross section of the semi-arc track sections 32, a power supply and a control circuit are further arranged on the support 1, the control circuit is electrically connected with the power supply, the power supply can supply power to the electromagnets 4, and the control circuit can control whether the electromagnets 4 are electrified or not.
Further, as shown in fig. 1 and 3, the number of the electromagnets 4 on the flat track section 31 of each equidistant unit length is one more than that of the soft magnetic blocks 5 of the corresponding support 1, the number of the electromagnets 4 on the flat track section 31 of each equidistant unit length is three, the number of the soft magnetic blocks 5 on the corresponding support 1 is two, the number of the electromagnets 4 on each semi-arc track section 32 is one more than that of the soft magnetic blocks 5 on the corresponding support 1, when the two corresponding electromagnets 4 on the two tracks 3 are energized, the corresponding soft magnetic blocks 5 on the support 1 are energized, at this time, the two electromagnets 4, the corresponding soft magnetic blocks 5 and the ship body form a closed magnetic circuit, the non-energized electromagnets 4 and the non-energized soft magnetic blocks 5 fall off, so that the magnetic walking mechanism of the crawler body can not only be always adsorbed on the ship body, but also can walk smoothly on the ship body.
Example two:
as shown in fig. 4, the ship rust removing robot in this embodiment includes at least two crawler belt magnetic traveling mechanisms in the first embodiment, the at least two crawler belt magnetic traveling mechanisms are sequentially arranged in front of and behind each other, two adjacent crawler belt magnetic traveling mechanisms are connected through a telescopic member 8, each crawler belt magnetic traveling mechanism is provided with a sand washing nozzle 7 for removing rust from a ship body, and the telescopic member 8 is an air cylinder or an electric cylinder; the ship rust removing robot is more beneficial to adapting to the radian change of the ship body due to the arrangement of the telescopic piece 8, and the ship rust removing robot can remove rust on a plane and also can remove rust on the ship body with the radian, so that the rust removing efficiency of the rust removing robot is improved.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. The crawler belt magnetic walking mechanism comprises a support (1) and is characterized in that guide wheels (2) are arranged at positions, close to two ends, of two sides of the support (1), a crawler belt (3) is sleeved on the two guide wheels (2) on each side of the support (1), a plurality of electromagnets (4) are arranged on the inner side of the crawler belt (3), a plurality of soft magnetic blocks (5) are arranged on each side of the support (1), a power supply for supplying power to the electromagnets (4) and a control circuit for controlling the electromagnets (4) to be electrified or not are further arranged on the support (1), and the control circuit is electrically connected with the power supply.
2. The magnetic crawler belt walking mechanism according to claim 1, wherein the position of the soft magnet block (5) on each side of the bracket (1) corresponds to the position of the electromagnet (4) on the inner side of the corresponding crawler belt (3).
3. The magnetic walking mechanism of the track as claimed in claim 2, wherein the track (3) comprises a flat track section (31) between the two guide wheels (2) and a semi-arc track section (32) connected with the two guide wheels (2), the electromagnets (4) on the inner side of the flat track section (31) and the soft magnetic blocks (5) on the corresponding bracket (1) are arranged in parallel along the plane at intervals, and the electromagnets (4) on the inner side of the semi-arc track section (32) and the soft magnetic blocks (5) on the corresponding bracket (1) are arranged in intervals along the arc surface and arranged around the center of the cross section of the semi-arc track section (32).
4. The magnetic crawler belt walking mechanism according to claim 3, wherein the number of the electromagnets (4) per equidistant unit length on the flat crawler belt section (31) is one more than the number of the soft magnetic blocks (5) on the corresponding bracket (1), and the number of the electromagnets (4) on the inner side of the half arc crawler belt section (32) is one more than the number of the soft magnetic blocks (5) on the corresponding bracket (1).
5. The magnetic crawler belt walking mechanism according to claim 1, 2, 3 or 4, wherein rotating shafts (6) are arranged on two sides of the bracket (1) near to two ends, and each guide wheel (2) is connected with the bracket (1) through the rotating shafts (6).
6. A ship rust removing robot is characterized by comprising at least two crawler belt magnetic traveling mechanisms according to any one of claims 1 to 5, wherein each bracket (1) on each crawler belt magnetic traveling mechanism is provided with a sand washing nozzle (7), and the at least two crawler belt magnetic traveling mechanisms are sequentially arranged in the front and at the back and are connected with each other through a telescopic piece (8).
7. Marine rust removing robot according to claim 6, characterized in that the telescopic member (8) is a cylinder or an electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010783214.6A CN111890238A (en) | 2020-08-06 | 2020-08-06 | Crawler belt magnetic walking mechanism and ship rust removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010783214.6A CN111890238A (en) | 2020-08-06 | 2020-08-06 | Crawler belt magnetic walking mechanism and ship rust removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111890238A true CN111890238A (en) | 2020-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010783214.6A Withdrawn CN111890238A (en) | 2020-08-06 | 2020-08-06 | Crawler belt magnetic walking mechanism and ship rust removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111890238A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003019985A (en) * | 2001-07-09 | 2003-01-21 | Tokyo Inst Of Technol | Traveling device |
| CN106275310A (en) * | 2016-08-11 | 2017-01-04 | 上海大学 | A kind of modular metal wall work climbing robot |
| CN106585750A (en) * | 2017-01-10 | 2017-04-26 | 南京林业大学 | Wall climbing robot adsorbed on steel wall surface |
| CN107310651A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type electromagnetic adsorption climbing robot walking mechanism |
| CN109334801A (en) * | 2018-09-19 | 2019-02-15 | 上海工程技术大学 | A kind of climbing robot and control method for big bending curvature wall surface |
-
2020
- 2020-08-06 CN CN202010783214.6A patent/CN111890238A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003019985A (en) * | 2001-07-09 | 2003-01-21 | Tokyo Inst Of Technol | Traveling device |
| CN107310651A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type electromagnetic adsorption climbing robot walking mechanism |
| CN106275310A (en) * | 2016-08-11 | 2017-01-04 | 上海大学 | A kind of modular metal wall work climbing robot |
| CN106585750A (en) * | 2017-01-10 | 2017-04-26 | 南京林业大学 | Wall climbing robot adsorbed on steel wall surface |
| CN109334801A (en) * | 2018-09-19 | 2019-02-15 | 上海工程技术大学 | A kind of climbing robot and control method for big bending curvature wall surface |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20201106 |