CN113042445A - Rust removal and sewage recovery device of ship rust removal robot - Google Patents
Rust removal and sewage recovery device of ship rust removal robot Download PDFInfo
- Publication number
- CN113042445A CN113042445A CN202110384826.2A CN202110384826A CN113042445A CN 113042445 A CN113042445 A CN 113042445A CN 202110384826 A CN202110384826 A CN 202110384826A CN 113042445 A CN113042445 A CN 113042445A
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- China
- Prior art keywords
- ship
- rust removing
- robot
- rust
- cover
- Prior art date
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 title claims abstract description 87
- 239000010865 sewage Substances 0.000 title claims abstract description 37
- 238000011084 recovery Methods 0.000 title claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000004064 recycling Methods 0.000 claims abstract description 14
- 238000007789 sealing Methods 0.000 claims abstract description 11
- 238000005406 washing Methods 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 230000004308 accommodation Effects 0.000 claims description 4
- 238000001179 sorption measurement Methods 0.000 abstract description 16
- 239000002893 slag Substances 0.000 abstract description 6
- 230000009193 crawling Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005488 sandblasting Methods 0.000 description 2
- 239000002351 wastewater Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/14—Removing waste, e.g. labels, from cleaning liquid; Regenerating cleaning liquids
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a rust removal and sewage recovery device of a ship rust removal robot, which comprises a rust removal and sewage recovery device, wherein the rust removal and sewage recovery device is arranged in a frame of the ship rust removal robot; the derusting and sewage recycling device comprises a cleaning cover, a sealing gasket, a driving mechanism and a rotary high-pressure water jet system, wherein the cleaning cover is provided with an inner accommodating space for installing the rotary high-pressure water jet system, an open opening part is arranged at the bottom side of the inner accommodating space, the rotary high-pressure water jet system is connected with the driving mechanism outside the cleaning cover, and the driving mechanism drives the rotary high-pressure water jet system to rotate. The invention can clean and rust the ship quickly and cleanly, and can recover and treat the rust slag and the sewage in time, so that the permanent magnet adsorption crawler of the ship rust removing robot can keep stronger adsorption force when crawling, thereby avoiding the overturning problem and simultaneously not causing the pollution of marine environment.
Description
Technical Field
The invention belongs to the technical field of ship rust removing robots, and particularly relates to a rust removing and sewage recycling device of a ship rust removing robot.
Background
At present, a ship rust removal robot generally adopts a permanent magnet adsorption mode to provide wall-climbing adsorption force for the robot, namely, a plurality of permanent magnet adsorption units are arranged on a chain of a crawler, when the crawler crawls, the permanent magnet adsorption units on the chain can continuously adsorb and separate from the wall surface of a ship board, so that the ship rust removal robot freely walks on the ship board, the robot walking on the ship wall body can move a cleaning device to different positions, a rocker arm in the cleaning device can conveniently eject copper ore sand from a spray gun at high speed from different angles to impact the ship wall surface, and the rust removal effect is achieved.
However, the existing ship rust removal robot generally adopts a permanent magnet adsorption mode to provide wall-climbing adsorption force for the robot, and after rust removal, the ship rust removal robot does not timely recover rust residues, so that when the ship rust removal robot climbs on a cleaned ship wall body, too much rust residues are adsorbed on a crawler belt of the ship rust removal robot, the magnetic adsorption force of a permanent magnet adsorption unit is weakened, and the problems of difficult walking and even overturning are caused; meanwhile, the existing ship rust removal robot generally adopts a traditional sand blasting rust removal mode, can not recover and treat the removed rust slag and sewage in time, and can also bring serious pollution to the environment.
Disclosure of Invention
The invention aims to provide a derusting and sewage recycling device of a ship derusting robot, which can rapidly and cleanly remove dirt and rust for ships and timely recycle and treat the removed rust slag and sewage, so that a permanent magnet adsorption crawler of the ship derusting robot can keep stronger adsorption force when crawling, thereby avoiding the overturning problem and simultaneously not causing pollution to the marine environment.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rust removal and sewage recovery device of a ship rust removal robot comprises a rust removal and sewage recovery device, wherein the rust removal and sewage recovery device is arranged in a frame of the ship rust removal robot; the derusting and sewage recycling device comprises a cleaning cover, a sealing gasket, a driving mechanism and a rotary high-pressure water jet system, wherein the cleaning cover is provided with an inner accommodating space for installing the rotary high-pressure water jet system, an open opening part is arranged at the bottom side of the inner accommodating space, the rotary high-pressure water jet system is connected with the driving mechanism outside the cleaning cover and is driven to rotate by the driving mechanism, a vacuum pipe interface communicated with the inner accommodating space of the cleaning cover is further arranged on the side edge of the cleaning cover, and an external interface of the vacuum pipe interface is connected with a vacuum recycling system through a vacuum pipeline.
Furthermore, a sealing gasket is arranged on the edge of the opening part of the cleaning cover.
Furthermore, an elastic adjusting mechanism is arranged on the outer side of the cleaning cover and comprises a support frame, a telescopic rod, an expansion spring and a universal wheel, one end of the support frame is fixedly connected with the side edge of the cleaning cover, the other end of the support frame is far away from the cleaning cover and is vertically connected with the top end of the telescopic rod in a telescopic mode, the bottom end of the telescopic rod is connected with the universal wheel, the expansion spring is sleeved in the telescopic rod, the top end of the expansion spring is fixedly connected with the support frame, and the lower end of the expansion spring is connected with a steering seat of the universal.
Furthermore, the number of the elastic adjusting mechanisms is four, and the four elastic adjusting mechanisms are respectively and symmetrically arranged on the outer side of the cleaning cover.
Furthermore, the rotary high-pressure water jet system comprises a rotary shaft, a six-way valve and a nozzle, wherein the rotary shaft is rotatably connected with a central shaft hole on the top side of the cleaning cover through a bearing, the top end of the rotary shaft is connected with a driving mechanism, the bottom end of the rotary shaft is uniformly provided with the nozzle through the six-way valve, and the rotary shaft is rotatably connected with a water inlet connecting pipe through a top end interface.
Further, actuating mechanism, including motor, motor cabinet, motor gear and rotating shaft gear, the motor passes through the motor cabinet and establishes the top side at the washing cover, be equipped with the motor gear on the output shaft of motor, the motor gear meshes with the rotating shaft gear mutually, the rotating shaft gear is taken over the rotation nature through the rotation axis and income water and is connected, it takes over to take over to establish on the motor cabinet through the income water, the motor passes through the motor gear and drives the rotating shaft gear and rotate, and the rotating shaft gear drives the rotation axis and rotates, and the rotation axis drives the nozzle rotation through six-way valve.
Furthermore, the cleaning cover is divided into an upper cover body and a lower cover body, the volume of the upper cover body is smaller than that of the lower cover body, and the upper cover body and the lower cover body are connected to form a step-type arrangement with a small upper part and a large lower part.
Further, the vacuum tube interface is provided in the superior cover.
Further, the sealing gasket is an annular silica gel ring, and the sealing gasket is fixedly arranged by mutually clamping an annular groove and an annular flange arranged at the edge of the opening part of the cleaning cover.
Further, the number of the nozzles is six, and the six nozzles are all arranged around the six-way valve.
The invention has the advantages that: the invention is improved on the basis of the existing rust removal robot technology, adopts vacuum closed rust removal operation to replace the traditional rocker arm type mode, simultaneously adopts the rust removal mode of rotating high-pressure water jet to replace the traditional sand blasting rust removal mode, and recovers the waste water and the rust slag through the vacuum recovery system, thereby achieving the effects of clean and rapid cleaning and recovery, enabling the rust removal robot to freely walk on the wall body of the ship, avoiding overturning and solving the problem of environmental pollution.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the bottom side structure of the present invention;
FIG. 3 is an exploded view of the present invention;
FIG. 4 is a schematic view of the cleaning cover of the present invention;
FIG. 5 is a schematic view of a gasket construction of the present invention;
FIG. 6 is a schematic view of a vacuum tube interface on the cleaning hood of the present invention;
FIG. 7 is an exploded view of the rotary high pressure water jet system of the present invention;
FIG. 8 is a schematic view of the water inlet pipe frame of the present invention;
fig. 9 is a schematic view of the structure of the rotating shaft of the present invention.
In the figure: the device comprises a cleaning cover 1, a sealing gasket 2, an annular groove 3, an annular flange 4, a supporting frame 5, an expansion rod 6, a telescopic spring 7, a universal wheel 8, a rotating shaft 9, a six-way valve 10, a nozzle 11, a bearing 12, a central shaft hole 13, a motor 14, a motor base 15, a motor gear 16, a rotating shaft gear 17, a water inlet pipe frame 18, a vacuum pipe interface 19 and a water inlet pipe 20.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 9, a rust removing and sewage recovering device of a ship rust removing robot includes a rust removing and sewage recovering device, the rust removing and sewage recovering device is disposed in a frame of the ship rust removing robot and is in contact with a wall body of a ship to work, the frame is driven by a permanent magnetic adsorption crawler to crawl on the wall body of the ship, the rust removing and sewage recovering device is carried by the frame to run to any position on the wall body of the ship to remove rust and recover rust residue and sewage after rust removing, the frame and the permanent magnetic adsorption crawler are prior art, or the permanent magnetic adsorption crawler only needs to crawl on the wall body of the ship by adsorption force, which is not described herein.
The rust removal and sewage recovery device comprises a cleaning cover 1, a sealing gasket 2, a driving mechanism and a rotary high-pressure water jet system, wherein the cleaning cover 1 is provided with an internal accommodating space for installing the rotary high-pressure water jet system, the bottom side of the internal accommodating space is provided with an open opening part, the rotary high-pressure water jet system is connected with the driving mechanism outside the cleaning cover 1, the driving mechanism drives the rotary high-pressure water jet system to rotate, so that the water spraying rust removal work of the rotary high-pressure water jet system is realized, the side edge of the cleaning cover 1 is also provided with a vacuum pipe interface 19 communicated with the internal accommodating space of the cleaning cover 1, the external interface of the vacuum pipe interface 19 is connected with a vacuum recovery system through a vacuum pipeline, and the rust slag and the waste water after the rotary high-pressure water jet system cleans the wall surface of a ship are timely, avoid sewage inflow sea environmental pollution, the vacuum recovery system is prior art, the vacuum recovery system also can be the vacuum recovery pump, and they only need to reach and absorb the sewage in the cleaning cover 1 and the rust slag that mixes together with sewage totally can.
Be equipped with sealed pad 2 on the border of the opening of washing cover 1, sealed pad 2 is annular silica gel circle, sealed pad 2 is fixed the setting through the mutual block of annular groove 3 and the annular flange 4 that the border of the opening of washing cover 1 set up, wash cover 1 and laminate each other through the sealed pad 2 of opening and the wall of boats and ships for the inside accommodation space of washing cover 1 forms a sealed vacuum space.
The outer side of the cleaning cover 1 is provided with an elastic adjusting mechanism, the elastic adjusting mechanism comprises a support frame 5, a telescopic rod 6, a telescopic spring 7 and a universal wheel 8, one end of the support frame 5 is fixedly connected with the side edge of the cleaning cover 1, the other end of the support frame is far away from the cleaning cover 1 and is in telescopic vertical connection with the top end of the telescopic rod 6, the bottom end of the telescopic rod 6 is connected with the universal wheel 8, the telescopic spring 7 is sleeved in the telescopic rod 6, the top end of the telescopic spring 7 is fixedly connected with the support frame 5, and the lower end of the telescopic spring is connected with a steering seat of the universal wheel 8, the elastic adjusting mechanism can ensure that the derusting robot has obstacle crossing capability, because the wall surface of a ship has a plurality of obstacles such as welding beading and welding seams, and the elastic adjusting mechanism can enable the derusting robot to stably cross the obstacles, to achieve a vacuum environment.
The number of the elastic adjusting mechanisms is four, and the four elastic adjusting mechanisms are respectively and symmetrically arranged on the outer side of the cleaning cover 1.
Rotatory high pressure water jet system, including rotation axis 9, six-way valve 10 and nozzle 11, rotation axis 9 passes through bearing 12 and washs the central shaft hole 13 rotatablely of the top side of cover 1 and is connected, the top and the actuating mechanism of rotation axis 9 are connected, and the bottom evenly is equipped with six nozzles 11 through six-way valve 10, six nozzles 11 are encircleing six-way valve 10 and set up, rotation axis 9 is connected through the bottom rotatablely of top interface and income water takeover 20, the top and the high pressure water piping connection of income water takeover 20, high pressure water piping is connected with the high-pressure pump package on ground, be equipped with the sealing washer between rotation axis 9 and the income water takeover 20.
Actuating mechanism, including motor 14, motor cabinet 15, motor gear 16 and rotation axis gear 17, motor 14 passes through motor cabinet 15 and establishes the top side at washing cover 1, be equipped with motor gear 16 on motor 14's the output shaft, motor gear 16 meshes with rotation axis gear 17 mutually, rotation axis gear 17 is connected through rotation axis 9 and 20 rotatability of takeover of intaking, it establishes on motor cabinet 15 through intaking takeover 20, motor 14 drives rotation axis gear 17 through motor gear 16 and rotates, and rotation axis gear 17 drives rotation axis 9 and rotates, and rotation axis 9 drives nozzle 11 rotatory through six-way valve 10, reaches the function of derusting for the wall of boats and ships through the rotatory jetted high-pressure rivers of six nozzles 11.
The cleaning cover 1 is divided into an upper cover body and a lower cover body, the volume of the upper cover body is smaller than that of the lower cover body, the upper cover body and the lower cover body are connected to form a step-type arrangement with a small upper part and a large lower part, and the vacuum pipe interface 19 is arranged in the upper cover body.
The operation and control mode of the invention is as follows:
1) a ship wall surface and a derusting cleaning process are adopted, a virtual manufacturing technology is combined, a ship derusting robot three-dimensional model is designed and assembled in Solidworks, and constraints are added to the established model, so that the model can move in a required mode.
2) And (3) offline planning is carried out on the path of the ship rust removal robot by using Solidworks software, and verification is carried out through simulation processing, so that the aim of guiding actual production is fulfilled.
3) The method comprises the following steps of: the ship rust removing robot starts from a certain point on the ship wall surface, and according to the zigzag track, the ship rust removing robot finishes the rust removing work by the rotary high-pressure water jet realized by connecting the high-pressure water pipe of the rotary shaft with the six nozzles, and the zigzag track is continuously repeated until the rust removing of the ship wall surface is finished.
The technical parameters of the invention are as follows:
firstly, during working, the moving speed of the ship rust removing robot is not less than 80 mm/s;
secondly, the cleaning working width of the rotary high-pressure water jet system is 350 mm;
thirdly, the self mass of the ship rust removing robot is less than 135 kg;
fourthly, the maximum load carried by the ship rust removing robot when climbing the wall is 90 kg;
fifthly, the obstacle crossing height of the ship rust removing robot is 30 mm;
sixthly, the remote control distance of the ship rust removing robot is not less than 150 mm.
In summary, the embodiments of the present invention have been chosen and described in detail, for the purpose of better illustrating the technical solution of the present invention, and are not intended to be limited to the details shown. Any modification or equivalent replacement of the technical solution of the present invention by those skilled in the art without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a rust cleaning and sewage recovery unit of boats and ships rust cleaning robot which characterized in that: the device comprises a rust removal and sewage recovery device, wherein the rust removal and sewage recovery device is arranged in a frame of the ship rust removal robot;
derusting and sewage recovery device, including wasing cover (1), sealed pad (2), actuating mechanism and rotatory high-pressure water jet system, wash cover (1) and be equipped with the inside accommodation space who is used for installing rotatory high-pressure water jet system, the bottom side of inside accommodation space is equipped with an open opening, rotatory high-pressure water jet system is connected with the outside actuating mechanism of wasing cover (1), and it is rotatory by the rotatory high-pressure water jet system of actuating mechanism drive, the side of wasing cover (1) still is equipped with vacuum tube interface (19) that are linked together with the inside accommodation space who washs cover (1), the external interface of vacuum tube interface (19) passes through vacuum tube and is connected with vacuum recovery system.
2. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: and a sealing gasket (2) is arranged on the edge of the opening part of the cleaning cover (1).
3. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the cleaning device is characterized in that an elastic adjusting mechanism is arranged on the outer side of the cleaning cover (1), the elastic adjusting mechanism comprises a support frame (5), a telescopic rod (6), an expansion spring (7) and a universal wheel (8), one end of the support frame (5) is connected and fixed with the side edge of the cleaning cover (1), the other end of the support frame is far away from the cleaning cover (1) and is perpendicularly connected with the top scalability of the telescopic rod (6), the bottom end of the telescopic rod (6) is connected with the universal wheel (8), the expansion spring (7) is sleeved in the telescopic rod (6), the top end of the expansion spring (7) is fixedly connected with the support frame (5), and the lower end of the expansion spring is connected with a.
4. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 3, wherein: the number of the elastic adjusting mechanisms is four, and the four elastic adjusting mechanisms are respectively and symmetrically arranged on the outer side of the cleaning cover (1).
5. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the rotary high-pressure water jet system comprises a rotary shaft (9), a six-way valve (10) and a nozzle (11), wherein the rotary shaft (9) is rotatably connected with a central shaft hole (13) on the top side of a cleaning cover (1) through a bearing (12), the top end of the rotary shaft (9) is connected with a driving mechanism, the bottom end of the rotary shaft is uniformly provided with the nozzle (11) through the six-way valve (10), and the rotary shaft (9) is rotatably connected with a water inlet connecting pipe (20) through a top end interface.
6. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: actuating mechanism, including motor (14), motor cabinet (15), motor gear (16) and rotation axis gear (17), motor (14) are established the top side at washing cover (1) through motor cabinet (15), be equipped with motor gear (16) on the output shaft of motor (14), motor gear (16) mesh with rotation axis gear (17) mutually, rotation axis gear (17) are connected through rotation axis (9) and income water takeover (20) rotatability, it establishes on motor cabinet (15) through income water takeover pipe support (18) to go into water takeover (20), motor (14) drive rotation axis gear (17) through motor gear (16) and rotate, and rotation axis gear (17) drive rotation axis (9) and rotate, and rotation axis (9) drive nozzle (11) rotation through six-way valve (10).
7. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the cleaning cover (1) is divided into an upper cover body and a lower cover body, the volume of the upper cover body is smaller than that of the lower cover body, and the upper cover body and the lower cover body are connected to form a step-type arrangement with a small top and a big bottom.
8. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the vacuum pipe interface (19) is arranged in the superior cover body.
9. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 2, which is characterized in that: the sealing gasket (2) is an annular silica gel ring, and the sealing gasket (2) is fixedly arranged on an annular flange (4) arranged at the edge of an opening part of the cleaning cover (1) through an annular groove (3) in a clamping mode.
10. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 5, wherein: six nozzles (11) are arranged, and the six nozzles (11) are all arranged around the six-way valve (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110384826.2A CN113042445A (en) | 2021-04-09 | 2021-04-09 | Rust removal and sewage recovery device of ship rust removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110384826.2A CN113042445A (en) | 2021-04-09 | 2021-04-09 | Rust removal and sewage recovery device of ship rust removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113042445A true CN113042445A (en) | 2021-06-29 |
Family
ID=76519468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110384826.2A Pending CN113042445A (en) | 2021-04-09 | 2021-04-09 | Rust removal and sewage recovery device of ship rust removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113042445A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313138A (en) * | 2021-12-15 | 2022-04-12 | 国通净美科技服务有限公司 | Underwater and wall-climbing dual-mode cleaning platform |
| CN114701616A (en) * | 2022-06-06 | 2022-07-05 | 威海海洋职业学院 | Ship underwater cleaning equipment based on computer control |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
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| CN101704004A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Water jet hull rust remover and operating method thereof |
| CN105035283A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Water jetting washing device and ship wall rust removing wall-climbing robot |
| CN208828065U (en) * | 2018-09-17 | 2019-05-07 | 友联船厂（蛇口）有限公司 | Ship derusting cleaning system based on climbing robot |
| CN214813066U (en) * | 2021-04-09 | 2021-11-23 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
-
2021
- 2021-04-09 CN CN202110384826.2A patent/CN113042445A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704004A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Water jet hull rust remover and operating method thereof |
| CN105035283A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Water jetting washing device and ship wall rust removing wall-climbing robot |
| CN208828065U (en) * | 2018-09-17 | 2019-05-07 | 友联船厂（蛇口）有限公司 | Ship derusting cleaning system based on climbing robot |
| CN214813066U (en) * | 2021-04-09 | 2021-11-23 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313138A (en) * | 2021-12-15 | 2022-04-12 | 国通净美科技服务有限公司 | Underwater and wall-climbing dual-mode cleaning platform |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
| CN114701616A (en) * | 2022-06-06 | 2022-07-05 | 威海海洋职业学院 | Ship underwater cleaning equipment based on computer control |
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