CN112606967A

CN112606967A - Ship attachment cleaning and repairing integrated robot

Info

Publication number: CN112606967A
Application number: CN202011549950.1A
Authority: CN
Inventors: 孙家付
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-04-06

Abstract

The invention belongs to the field of ship cleaning, and particularly relates to a ship attachment cleaning and repairing integrated robot which comprises a fixed frame, wherein a spraying mechanism, a blowing mechanism and a cleaning mechanism are sequentially arranged on the upper side and the lower side of the fixed frame from left to right, the cleaning mechanism comprises a driving motor arranged on the lower side of the fixed frame, a rotating shaft is fixedly connected to the output end of the upper end of the driving motor, the upper end of the rotating shaft penetrates through the fixed frame and is fixedly connected with the cleaning mechanism, the blowing mechanism comprises two movable cavities symmetrically arranged in the middle of the fixed frame, movable rods are arranged in the movable cavities, a blowing frame is arranged between the two movable rods, the opening of the blowing frame is opposite to the cleaning mechanism, the spraying mechanism comprises a blowing frame arranged on the left side of the fixed frame, and a plurality of coating nozzles which are distributed at equal intervals. The invention has simple structure and convenient operation, and can repair the stained part while effectively cleaning the attachments of the ship body.

Description

Ship attachment cleaning and repairing integrated robot

Technical Field

The invention belongs to the field of ship cleaning, and particularly relates to a ship attachment cleaning and repairing integrated robot.

Background

The long-term contact of the ship with seawater causes a large amount of bacteria to adhere to the surface of the ship body to form a layer of biological regulation film. The larva and spore of the primary plankton fall on the biological regulation membrane in succession to secrete mucus with enhanced adhesive force, and strongly adhere and propagate through one or more synergistic effects of chemical bonding, electrostatic interaction, mechanical interlocking and diffusion interlocking. After the old generation of organisms die, part of the organisms cannot fall off automatically, and the new generation of organisms can be attached to the surface again to finally form a large-scale biological group. The continuous accumulation and erosion of attachments of the ship bodies destroy the surface protective coating of the structure, change the corrosion degree of the substrate material, increase the number of times of ship dock repair and shorten the service life of the ship. The surface roughness is increased, the sailing resistance of the ship is increased, the sailing speed is reduced, the sailing time is prolonged, the fuel consumption is increased, if the surface roughness is attached to a special part, the safety of a host machine can be damaged, a pipeline is blocked, the normal operation of equipment is influenced, and the operation cost is increased.

Based on the above reasons, people often reduce the hull attachment through the mode of scribbling protective coating to the hull surface, and after boats and ships navigation a period, need regularly maintain the hull, wherein the most crucial is the clearance of hull attachment and the restoration of stained position, wherein the clearance of attachment and the restoration of stained position are separately gone on generally, just can restore after clearing away the completion to the hull attachment, maintenance time has been increased undoubtedly to this kind of mode, maintenance efficiency has been slowed down, hull attachment often can lead to the fact destruction to protective coating in the in-process of clearing away simultaneously, expose the corrosion that can increase the hull in the middle of the air, influence the use of hull.

Therefore, a ship attachment cleaning and repairing integrated robot is provided to solve the problems.

Disclosure of Invention

The invention aims to solve the problems and provides a ship body attachment cleaning and repairing integrated robot.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a hull attachment is clear away and is restoreed integrative robot, includes the mount, the upper and lower both sides of mount are equipped with spraying mechanism, jetting mechanism and clearance mechanism from a left side to the right side in proper order, clearance mechanism is including setting up the driving motor at the mount downside, driving motor's upper end output end fixedly connected with pivot, mount fixedly connected with clearance mechanism is passed to the upper end of pivot, jetting mechanism sets up two movable chambers at the mount middle part including the symmetry, the activity intracavity is equipped with the movable rod, two the centre of movable rod is equipped with the gas injection frame, the opening part of gas injection frame is just to clearance mechanism, spraying mechanism is including setting up at the left material frame that spouts of mount, spout the coating nozzle that a plurality of equidistance of fixedly connected with of material frame distributed.

In foretell hull attachment is clear away and is restoreed integrative robot, the clearance mechanism include with pivot fixed connection's rolling disc, the upside of rolling disc is equipped with the center post, the inside of center post is equipped with the cushion chamber, the inside of cushion chamber is equipped with the buffer beam, the ring side cover of buffer beam is equipped with buffer spring, the buffer beam passes the upper end fixedly connected with block rubber of center post.

In foretell integrative robot is restoreed in hull attachment is clear away, the ring side swing joint of rolling disc has a plurality of side brush-holder studs, the one end swing joint that the rolling disc was kept away from to the side brush-holder stud has the brush board, the upside fixedly connected with brush hair of brush board, the brush hair adopts the steel wire structure, the middle part of side brush-holder stud is equipped with control spring, control spring's other end fixed connection is on the lateral wall of center post.

In foretell hull attachment is clear away and is restoreed integrative robot, the activity intracavity is equipped with the promotion spring, promote the spring housing and establish the ring side at the movable rod, the upper end that promotes the spring is equipped with the stopper, the lower extreme fixedly connected with stopper that the movable rod passed the mount.

In foretell hull attachment is clear away and is restoreed integrative robot, the upper end fixedly connected with location slider of movable rod, the upside of location slider is equipped with a plurality of balls.

In the above-mentioned integrative robot is restoreed in hull attachment removal, the air jet frame includes the air jet chamber, the inside of air jet chamber is equipped with a plurality of nozzles, the side fixedly connected with air jet branch pipe of nozzle, the upper portion of mount is equipped with the air jet main pipe, a plurality of the lower extreme and the air jet main pipe fixed connection of air jet branch pipe.

In foretell hull attachment is clear away and is restoreed integrative robot, two the centre of movable rod is equipped with fender cloth roll-up cylinder, fender cloth roll-up cylinder sets up the upside at the mount, be equipped with fender cloth between fender cloth roll-up cylinder and the jet-propelled frame, the lower extreme roll-up of fender cloth is in fender cloth roll-up cylinder.

In foretell hull attachment is clear away and is restoreed integrative robot, the downside middle part of mount is equipped with the air pump, the left side output end fixed connection of air pump has the air duct, the other end and the jet-propelled main pipe fixed connection of air duct.

In the above hull attachment removing and repairing integrated robot, a discharge pipe is fixedly connected to the lower side of the material spraying frame, the discharge pipe penetrates through the lower end of the fixing frame to be provided with a coating pump, a material guide pipe is fixedly connected to the right input end of the coating pump, and a material storage tank is fixedly connected to the other end of the material guide pipe.

The invention has the beneficial effects that: the rotating disc is movably connected with the side brush rod, the brush plate is movably connected with the side brush rod, the middle parts of the central column and the side brush rod are connected with the control spring, and when the cleaning device is used, the brush plate can be tightly attached to the surface of a ship body, so that the cleaning effect of attachments is improved; meanwhile, the cleaning mechanism is fixedly connected with the rotating shaft, and the plurality of brush plates can rotate by taking the central column as the circle center through the rotation of the cleaning mechanism, so that the ship body has a good cleaning effect; furthermore, after the attachments are removed, the stained parts of the ship body can be polished by the steel brush on the upper side of the brush plate, so that the adhesiveness of the coating can be effectively improved, and the repair quality is improved; the air injection frame is arranged between the air injection frame and the cleaning mechanism, the cleaning mechanism can be injected by the air injection frame, the removed attachments are blown away, and the air injection frame is matched with the blocking cloth to effectively prevent the attachments from being scattered to the left side of the fixing frame to influence the repairing effect; after the cleaning process is completed, the protective coating in the storage tank can be sprayed to the cleaned ship body through the material spraying frame and the coating nozzle by the coating pump, the protective coating of the ship body is repaired, and the cleaning process is convenient and fast.

The following are included: the invention has simple structure and convenient operation, can repair the stained part while effectively cleaning the attachments of the ship body, has short intermediate interval time and can effectively improve the maintenance efficiency of the ship body; meanwhile, the contact time of the ship body with air after the attachments are removed is short, the corrosion of the ship body can be effectively reduced, and the maintenance effect of the ship is improved.

Drawings

FIG. 1 is a schematic structural diagram of a hull attachment cleaning and repairing integrated robot provided by the invention;

FIG. 2 is a schematic structural diagram of a cleaning mechanism of the integrated robot for cleaning and repairing hull attachments provided by the invention;

FIG. 3 is a top view of the cleaning mechanism of the integrated robot for cleaning and repairing the attachments on the ship hull provided by the invention;

FIG. 4 is a schematic connection diagram of a movable rod and an air injection frame of the integrated robot for removing and repairing attachments of the ship hull provided by the invention;

FIG. 5 is a schematic structural diagram of an air injection frame of the integrated robot for removing and repairing attachments of the ship hull provided by the invention;

fig. 6 is a connection schematic diagram of a spraying frame of the integrated robot for removing and repairing the hull attachments provided by the invention.

In the figure: 1 fixed frame, 2 driving motor, 3 rotating shaft, 4 clearing mechanism, 401 rotating disc, 402 center post, 403 buffer cavity, 404 buffer rod, 405 rubber block, 406 side brush rod, 407 brush plate, 408 control spring, 409 buffer spring, 5 movable cavity, 6 movable rod, 7 pushing spring, 8 positioning slide block, 9 ball, 10 air jet frame, 1001 air jet cavity, 1002 nozzle, 1003 air jet branch pipe, 11 cloth blocking roller, 12 cloth blocking, 13 air jet main pipe, 14 air duct, 15 air pump, 16 material storage tank, 17 material guide pipe, 18 paint pump, 19 discharge pipe, 20 air jet frame, 21 paint nozzle.

Detailed Description

The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.

Examples

As shown in fig. 1-6, a ship body attachment cleaning and repairing integrated robot comprises a fixed frame 1, wherein a spraying mechanism for spraying protective paint, a blowing mechanism for blowing out cleaned attachments and a cleaning mechanism for cleaning the attachments are sequentially arranged on the upper side and the lower side of the fixed frame 1 from left to right, the cleaning mechanism comprises a driving motor 2 arranged on the lower side of the fixed frame 1, the upper end output end of the driving motor 2 is fixedly connected with a rotating shaft 3, the rotating shaft 3 is driven to rotate by the driving motor 2, the upper end of the rotating shaft 3 penetrates through the fixed frame 1 and is fixedly connected with a cleaning mechanism 4, the cleaning mechanism 4 rotates along with the rotation of the rotating shaft 3, the blowing mechanism comprises two movable cavities 5 symmetrically arranged in the middle of the fixed frame 1, movable rods 6 are arranged in the movable cavities 5, the movable rods 6 can move up and down in the movable cavities 5, an air injection frame 10 for blowing air is arranged between the two, the opening part of the air injection frame 10 is right opposite to the clearing mechanism 4, attachments cleaned by the clearing mechanism 4 are blown away, the spraying mechanism comprises a spraying frame 20 which is arranged on the left side of the fixed frame 1 and used for spraying protective coating, and a plurality of coating nozzles 21 which are distributed at equal intervals are fixedly connected to the upper side of the spraying frame 20, so that the coating effect is improved.

Clearing mechanism 4 includes and rotates the rolling disc 401 with pivot 3 fixed connection, carousel 401 rotates along with pivot 3's rotation, the upside of rolling disc 401 is equipped with center post 402, the inside of center post 402 is equipped with cushion chamber 403, the inside of cushion chamber 403 is equipped with buffer beam 404, buffer beam 404 can remove in cushion chamber 403, the ring side cover of buffer beam 404 is equipped with buffer spring 409, when clearing up the hull attachment through clearing mechanism 4, can avoid the hull direct with center post 402 contact to cause wearing and tearing through buffer beam 404, buffer beam 404 passes the upper end fixedly connected with rubber block 405 of center post 402, be used for avoiding causing wearing and tearing to the hull when the contact.

The ring side swing joint of rolling disc 401 has a plurality of side brush-holder posts 406, side brush-holder post can millet bottom rolling disc 401 earlier take place to rotate, the one end swing joint that side brush-holder post 406 kept away from rolling disc 401 has brush board 407, brush board 407 contacts with the hull when using, the upside fixedly connected with brush hair of brush board 407, the brush hair adopts the steel wire structure, after driving the attachment, can polish the stained position of hull through the steel wire of brush board 407 upside, can effectively improve the adhesion of coating, thereby improve and restore the quality, the middle part of side brush-holder post 406 is equipped with control spring 408, control spring 408's other end fixed connection is on the lateral wall of center post 402, when using, can make brush board 407 and hull surface carry out inseparable laminating, improve the effect of driving of attachment.

Be equipped with in the activity chamber 5 and promote spring 7, promote the 7 cover of spring and establish the ring side at movable rod 6, promote spring 7 and can promote movable rod 6 rebound, the upper end that promotes spring 7 is equipped with the stopper, and movable rod 6 passes the lower extreme fixedly connected with stopper of mount 1, sets up the stopper and can avoid movable rod 6 and mount 1 to separate.

The upper end fixedly connected with location slider 8 of movable rod 6, the upside of location slider 8 is equipped with a plurality of balls 9, and the upside of location slider 8 contacts with the hull when using, can keep the location slider to laminate with the hull all the time under the effect that promotes the spring to improve jetting effect, set up ball 9 simultaneously and can be convenient for remove location slider 8.

The air injection frame 10 comprises an air injection cavity 1001, a plurality of nozzles 1002 are arranged in the air injection cavity 1001, the nozzles 1002 are distributed at equal intervals, the air injection cavity 1001 can be used for injecting air along the length direction, an air injection branch pipe 1003 is fixedly connected to the side surface of each nozzle 1002, an air injection main pipe 13 is arranged on the upper portion of the fixing frame 1, the lower ends of the air injection branch pipes 1003 are fixedly connected with the air injection main pipe 13, and air in the air injection main pipe 13 is led out through the air injection branch pipe 1003.

The middle of two movable rods 6 is equipped with fender cloth roll-up cylinder 11, fender cloth roll-up cylinder 11 sets up the upside at mount 1, is equipped with fender cloth 12 between fender cloth roll-up cylinder 11 and the jet-propelled frame 10, and the lower extreme roll-up of fender cloth 12 is equipped with the coil spring in fender cloth roll-up cylinder 11, when not receiving external force, can be with the roll-up of fender cloth 12, can further avoid producing debris when clearing up the attachment and shed spraying mechanism department through fender cloth 12, influences the spraying of coating.

The air pump 15 is arranged in the middle of the lower side of the fixing frame 1, the air guide tube 14 is fixedly connected to the output end of the left side of the air pump 15, the other end of the air guide tube 14 is fixedly connected with the air injection main tube 13, and high-pressure air can be conveyed to the air injection main tube 13 through the air pump 15 so as to be injected.

A discharge pipe 19 is fixedly connected to the lower side of the material spraying frame 20, the material spraying frame 20 is supplied with materials through the discharge pipe 19, a coating pump 18 is arranged on the lower end of the discharge pipe 19 penetrating through the fixed frame 1, a material guide pipe 17 is fixedly connected to the right input end of the coating pump 18, a material storage tank 16 is fixedly connected to the other end of the material guide pipe 17, and the coatings in the material storage tank 16 are conveyed to the discharge pipe 19 through the coating pump 18 so as to be sprayed with protective coatings.

The operating principle of the present invention will now be described as follows:

when the device is used, the device is placed on the lower side of a ship body through other supporting structures, so that the brush plate 407 and the positioning slide block 8 are in contact with the ship body, and the pressing device is used for pressing the device, as the side brush rod 406 is movably connected with the rotating disc 401 and the brush plate 407 is movably connected with the side brush rod 406, the brush plate 407 can be kept attached to the ship body all the time through the control spring 408 during pressing, the driving motor 2 is started to drive the rotating shaft 3 and the rotating disc 401 to rotate, and the brush plate 407 rotates by taking the central column 402 as the center of a circle to clean and polish attachments on the surface of the ship body simultaneously, so that the attachments of coatings are facilitated; starting the air pump 15 to introduce high-pressure air into the main air injection pipe 13 and the air injection frame 10 through the air guide pipe 14, and injecting in the process of cleaning attachments so as to avoid the influence of impurities on subsequent spraying; the paint in the storage tank 16 is conveyed to the paint spray frame 20 and the paint spray nozzle 21 by the paint pump 18, and the polished area is spray-repaired.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A ship attachment clearing and repairing integrated robot comprises a fixing frame (1) and is characterized in that a spraying mechanism, a blowing mechanism and a cleaning mechanism are sequentially arranged on the upper side and the lower side of the fixing frame (1) from left to right, the cleaning mechanism comprises a driving motor (2) arranged on the lower side of the fixing frame (1), a rotating shaft (3) is fixedly connected to the output end of the upper end of the driving motor (2), the upper end of the rotating shaft (3) penetrates through the fixing frame (1) and is fixedly connected with the cleaning mechanism (4), the blowing mechanism comprises two movable cavities (5) symmetrically arranged in the middle of the fixing frame (1), movable rods (6) are arranged in the movable cavities (5), an air blowing frame (10) is arranged between the two movable rods (6), the opening of the air blowing frame (10) is right opposite to the cleaning mechanism (4), the spraying mechanism comprises an air blowing frame (20) arranged on the left side of the fixing frame (, the upper side of the material spraying frame (20) is fixedly connected with a plurality of coating nozzles (21) which are distributed at equal intervals.

2. The ship hull attachment clearing and repairing integrated robot as claimed in claim 1, wherein the clearing mechanism (4) comprises a rotating disc (401) fixedly connected with the rotating shaft (3), a central column (402) is arranged on the upper side of the rotating disc (401), a buffer cavity (403) is arranged inside the central column (402), a buffer rod (404) is arranged inside the buffer cavity (403), a buffer spring (409) is sleeved on the ring side of the buffer rod (404), and a rubber block (405) is fixedly connected to the buffer rod (404) through the upper end of the central column (402).

3. The hull attachment removing and repairing integrated robot as claimed in claim 2, wherein a plurality of side brush rods (406) are movably connected to the annular side of the rotating disc (401), one ends, far away from the rotating disc (401), of the side brush rods (406) are movably connected with brush plates (407), bristles are fixedly connected to the upper sides of the brush plates (407), the bristles are of steel wire structures, control springs (408) are arranged in the middle of the side brush rods (406), and the other ends of the control springs (408) are fixedly connected to the side walls of the central column (402).

4. The hull attachment clearing and repairing integrated robot according to claim 1, wherein a pushing spring (7) is arranged in the movable cavity (5), the pushing spring (7) is sleeved on the ring side of the movable rod (6), a limiting block is arranged at the upper end of the pushing spring (7), and the movable rod (6) penetrates through the lower end of the fixed frame (1) and is fixedly connected with the limiting block.

5. The hull attachment removing and repairing integrated robot according to claim 1, wherein a positioning slide block (8) is fixedly connected to the upper end of the movable rod (6), and a plurality of balls (9) are arranged on the upper side of the positioning slide block (8).

6. The hull attachment removing and repairing integrated robot according to claim 1, wherein the air injection frame (10) comprises an air injection cavity (1001), a plurality of nozzles (1002) are arranged inside the air injection cavity (1001), an air injection branch pipe (1003) is fixedly connected to the side surface of each nozzle (1002), an air injection main pipe (13) is arranged on the upper portion of the fixing frame (1), and the lower ends of the air injection branch pipes (1003) are fixedly connected with the air injection main pipe (13).

7. The hull attachment removing and repairing integrated robot according to claim 1, wherein a cloth blocking and winding roller (11) is arranged in the middle of the two movable rods (6), the cloth blocking and winding roller (11) is arranged on the upper side of the fixed frame (1), a cloth blocking (12) is arranged between the cloth blocking and winding roller (11) and the air injection frame (10), and the lower end of the cloth blocking (12) is wound in the cloth blocking and winding roller (11).

8. The hull attachment removing and repairing integrated robot according to claim 6, wherein an air pump (15) is arranged in the middle of the lower side of the fixing frame (1), an air guide pipe (14) is fixedly connected to the output end of the left side of the air pump (15), and the other end of the air guide pipe (14) is fixedly connected with the main air injection pipe (13).

9. The hull attachment removing and repairing integrated robot as claimed in claim 1, wherein a discharging pipe (19) is fixedly connected to the lower side of the spraying frame (20), a paint pump (18) is arranged on the discharging pipe (19) through the lower end of the fixing frame (1), a material guiding pipe (17) is fixedly connected to the right input end of the paint pump (18), and a material storage tank (16) is fixedly connected to the other end of the material guiding pipe (17).