CN113148051A - Multi-tool ship maintenance robot - Google Patents
Multi-tool ship maintenance robot Download PDFInfo
- Publication number
- CN113148051A CN113148051A CN202110598296.1A CN202110598296A CN113148051A CN 113148051 A CN113148051 A CN 113148051A CN 202110598296 A CN202110598296 A CN 202110598296A CN 113148051 A CN113148051 A CN 113148051A
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- rust
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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
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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
- B63B81/00—Repairing or maintaining vessels
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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
- B63B2059/065—Cleaning devices for hulls mounted on land-borne vehicles, e.g. travelling on the bottom of a dry-dock
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a multi-tool ship maintenance robot, comprising: the robot moving body comprises a body bracket and a working module arranged on the body bracket; the body support comprises a crawler traveling device, double-row chain wheels and an anti-overturning mechanism, wherein the crawler traveling device comprises a magnetic adsorption device and double-row chains with bent plates; the double-row chain wheel is arranged on the body bracket and is matched with the double-row chain on the crawler belt walking device to form a chain transmission mechanism; the magnetic adsorption device is used for adsorbing a working surface, so that the crawler walking device can drive the body support and the working module to crawl along the working surface; the working module comprises a cleaning module, a derusting module and a paint spraying module, and can be combined with the robot moving body to complete different works; the method of the invention using the modularized tool solves the problems of various types and non-uniform operation of the existing ship maintenance tools, and improves the efficiency and the reliability.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a multi-tool ship maintenance robot.
Background
The derusting and cleaning operation of the ship is the primary step before ship coating. Since the ship's skin is immersed in seawater for a long period of time, corrosion inevitably occurs. In order to improve the service life of the ship and increase the safety in use, when the outer plate of the ship and the paint are damaged to a certain extent, a rust removing paint treatment must be performed.
At present, robots for cleaning, derusting, painting and other maintenance of the outer surface of a ship have different structures, heavy volume and inconsistent operation, and the maintenance efficiency of the ship is influenced.
Disclosure of Invention
The invention discloses a multi-tool ship maintenance robot aiming at the problems, which can switch different working modules to carry out different works according to the needs. A robot moving body is used, and an operation method is used, so that the efficiency is improved.
The technical scheme adopted by the invention is as follows:
a multi-tool ship maintenance robot comprises a robot moving body, wherein the robot moving body comprises a body support and a working module arranged on the body support; the body support comprises a crawler traveling device, double-row chain wheels and an anti-overturning mechanism, wherein the crawler traveling device comprises a magnetic adsorption device and double-row chains with bent plates; the double-row chain wheel is arranged on the body bracket and is matched with the double-row chain on the crawler belt walking device to form a chain transmission mechanism; the magnetic adsorption device is used for adsorbing a working surface, so that the crawler walking device can drive the body support and the working module to crawl along the working surface;
the working module comprises a cleaning module, a derusting module and a paint spraying module, wherein the cleaning module adopts a main and auxiliary rotating brush system which is symmetrical left and right and a shearing mechanism driven by a slider-crank mechanism and is used for cleaning a working surface; the rust removal module adopts a motor to drive a rotatable component to realize adjustable rotating speed and is used for rust removal operation on a working surface; the module of spraying paint adopts and air-dries the subassembly and air-dries and clean earlier to the surface before spraying paint for to the working face operation of spraying paint.
The body bracket can be assembled and combined with the cleaning module, the derusting module and the paint spraying module respectively to complete cleaning operation, derusting operation and paint spraying operation respectively; or the rust removal module and the paint spraying module are matched at the same time to carry out rust removal and paint spraying operation.
Furthermore, the double-row chain wheel comprises a tension wheel, a plurality of driven wheels and a driving wheel, and the tension wheel is provided with a tension device for compressing and limiting.
Further, the magnetic adsorption device is arranged on a double-row chain with a bent plate.
Further, the overturn preventing mechanism comprises a support plate and an overturn wheel; the body bracket is bilaterally symmetrical about the support plate, and a main support plate and an auxiliary support plate are respectively arranged at two sides of the body bracket; the main support plate and the auxiliary support plate are connected and fixed through a plurality of fulcrum shafts; the two main supporting plates are fixedly connected by an aluminum alloy section; the aluminum alloy fixed section is reinforced by a V-shaped aluminum alloy plate.
Furthermore, the cleaning module comprises two brush discs which are symmetrical left and right, a shearing mechanism and a fixing plate; the fixed plate is installed on the body bracket through a bolt, and the cleaning module is connected with the body bracket through the fixed plate;
the brush disc is divided into a main brush disc and an auxiliary brush disc; a plurality of brushes which are circumferentially distributed are arranged on the main brush disc and the auxiliary brush disc; the brush is connected with the brush disc through a first flexible connecting mechanism; the first flexible connecting mechanism consists of a bolt and a spring; the main brush disc and the auxiliary brush disc are driven by a chain; the main brush disc is driven by a first motor; the shearing mechanism is arranged in front of the cleaning module and used for removing the convex attachments; the shearing mechanism comprises an upper shearing block and a lower shearing block; the upper cutting block is arranged on the cleaning module; the lower shearing module and the upper shearing module have limited relative displacement; the lower shearing module is driven by a second motor through a crank-slider mechanism.
Further, the rust removing module includes: the high-pressure rust removal system, the vacuum recovery system and the two symmetrical second flexible connecting mechanisms are arranged on the upper surface of the vacuum recovery system;
the vacuum recovery system comprises a rust removing disc cavity, a sealing brush, a supporting universal wheel and a vacuum pipeline connecting port; the vacuum pipeline connecting port is connected with the vacuum pipeline and continuously pumps dirt, old paint coats, rust and air in the cavity of the rust removing disc, so that the dirt is removed, the rust and the air are dried, and negative pressure adsorption force is generated; the sealing brush at the bottom of the derusting module is used for sealing, and the friction loss of the sealing brush is reduced by using the supporting universal wheel;
the high-pressure rust removal system comprises: the device comprises a high-pressure rotary joint, a high-pressure water pipe, a bracket, a rotary mechanism, a five-way valve and a high-pressure spray head; the rotating mechanism consists of a motor and a gear; the five-way valve is arranged in the cavity of the rust removing disc, the middle hole of the five-way valve is connected with the high-pressure water pipe, and the other four holes are connected with a high-pressure spray head respectively; the high-pressure spray head is provided with a plurality of high-pressure spray nozzles; the high-pressure water pipe sequentially penetrates through the high-pressure rotary joint and the gear of the rotary mechanism, an external high-pressure water pipe pipeline is connected with a fixed end at the upper part of the high-pressure rotary joint, and the high-pressure water pipe is fixedly connected with a rotary interface at the lower end of the high-pressure rotary joint and limited by two tapered roller bearings; the high-pressure rotary joint rotating section is driven by the rotating mechanism to rotate, and high-pressure water flows to the high-pressure spray head through the high-pressure rotary joint, the high-pressure water pipe and the five-way valve and is sprayed out from the spray nozzle; the high-pressure rust removal system is arranged on the rust removal disc cavity; the bracket is connected to the body bracket through a screw;
the second flexible connecting mechanism comprises a connecting bracket, a holding clamp, a guide shaft, a linear bearing, a compression spring, a limiting block and a limiting spring; the holding clamp is fixedly connected with the cavity of the rust removing disc; the linear bearing is fixedly connected with the holding clamp, and the second flexible connecting mechanism is installed on the body support through the connecting support.
Further, the paint spraying module comprises a crank rocker mechanism, a paint spraying system and an air drying system; the paint spraying module is arranged on the overturn preventing mechanism;
the paint spraying system comprises a high-atomization spray head, a high-pressure air pipeline and a paint pipeline; the high-atomization nozzle is arranged at the tail end of the crank remote rod mechanism and used for spraying paint; the high-pressure air pipeline and the coating pipeline are respectively connected to the corresponding joints; and the air drying system is arranged in front of the high-atomization spray head and used for descaling and air drying before paint spraying.
Advantageous effects
1. The modularized multi-tool wall-climbing robot combines cleaning, derusting and paint spraying and is applied to ship maintenance.
2. The handling of different work tasks can be switched and combined.
3. The same mobile body is applied, unified operation is achieved, and efficiency is improved.
The multi-tool ship maintenance robot based on the invention can utilize the robot moving module to respectively carry cleaning, derusting and paint spraying modules to carry out cleaning, derusting and paint spraying operations; the robot moving body has certain obstacle crossing capability while utilizing strong adsorption force of crawler walking.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 shows three modes of operation of the multi-tool marine service robot of the present invention
Fig. 2 is a schematic structural view of the crawler belt unit.
FIG. 3 is a schematic view of a mobile body support structure of a robot
Fig. 4 is a schematic structural view of a cleaning module.
FIG. 5 is a schematic structural diagram of a derusting module.
Fig. 6 is a schematic view of a painting module configuration.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in the embodiment, as shown in fig. 1, the multi-tool ship maintenance robot is designed in a modularized manner, and comprises a robot moving body 1, wherein the robot moving body 1 comprises a body support 15 and working modules installed on the body support 15, the working modules comprise a cleaning module 2, a rust removing module 3 and a paint spraying module 4, and the robot moving body 1 can be assembled and combined with the cleaning module 2, the rust removing module 3 and the paint spraying module 4 respectively to complete cleaning operation, rust removing operation and paint spraying operation respectively; the rust removal module 3 and the paint spraying module 4 can be matched at the same time to perform rust removal and paint spraying operation.
In the embodiment that the body support 15 comprises a crawler traveling device, a double-row chain wheel 13 and an anti-overturning mechanism 16, as shown in fig. 2, the crawler traveling device comprises a magnetic adsorption device 12 and a double-row chain 14 with a bent plate; the magnetic adsorption device 12 is arranged on a double-row chain 14 with a bent plate; the double-row chain wheel 13 is arranged on the body bracket 15 and is matched with a double-row chain 14 on the crawler belt walking device to form a chain transmission mechanism; the magnetic adsorption device 12 is used for adsorbing a working surface, so that the crawler walking device can drive the body support 15 and the working module to crawl along the working surface; the double-row chain wheel 13 comprises a tension wheel 131, a plurality of driven wheels 132 and a driving wheel 133, and the tension wheel 131 is pressed and limited by a tension device.
In an embodiment, as shown in fig. 3, a body support 15. The anti-overturn structure 16 is composed of an anti-overturn wheel bracket 161 and an anti-overturn wheel 162. The body bracket 15 is bilaterally symmetrical about a support plate 161, a main support plate 151 and an auxiliary support plate 152 are respectively arranged at two sides, and the main support plate 151 and the auxiliary support plate 152 are fixedly connected by a plurality of support shafts 153; the two main support plates 151 which are symmetrically distributed are fixedly connected by an aluminum alloy section bracket 154; the aluminum alloy profile 154 is reinforced with a V-shaped aluminum alloy plate 155.
In the embodiment shown in fig. 4, the cleaning module 2 is provided. The cleaning module 2 is bilaterally symmetrical and comprises two bilaterally symmetrical brush discs, a shearing mechanism 22 and a fixing plate 23; the brush disc 21 consists of a main brush disc 211 and an auxiliary brush disc 212; the brush discs are respectively provided with a plurality of brushes 213 which are distributed in a circumferential manner; the connection between the brush 213 and the brush disc 21 is a first flexible connection mechanism 214; the first flexible connection mechanism 214 is composed of a shaft and a spring; the main brush disc 211 is in transmission connection with the auxiliary brush disc 212 through a chain 215; the shearing mechanism 22 is composed of an upper shearing plate 221, a lower shearing plate 222, a shearing motor 223 and a slider-crank mechanism 224. The upper shear plate 221 is fixedly attached to the main body of the cleaning module. There is limited relative displacement of the lower shear plate 222 and the upper shear plate 221; the limited relative displacement of the lower shear plate 222 is carried by a slider-crank mechanism 224. The fixed plate 23 is mounted on the body support 15 through bolts, and the cleaning module 2 is connected with the body support 15 through the fixed plate 23, so that the robot body support 15 can carry the cleaning module 2 to complete a cleaning task.
In the embodiment, as shown in fig. 5, a derusting module 3 is provided. The derusting module 3 comprises a high-pressure derusting system 31, a vacuum recovery system 32 and two symmetrical second flexible connecting mechanisms 33.
The vacuum recovery system 32 comprises a rust removing disc cavity 321, a sealing brush 322, a plurality of universal supporting wheels 323 and a vacuum pipeline connecting port 324. During the working process, the vacuum pipeline is connected with the positive empty pipeline connecting port 324 and continuously sucks dirt, old paint coats, iron rust and air in the cavity 321 of the derusting disc, and the dirt is removed and dried to generate negative pressure adsorption force. The sealing brush 322 at the bottom of the derusting module 2 is used for sealing, and the friction loss of the sealing brush 322 is reduced by using the universal supporting wheel 323.
The high-pressure rust removal system 31 includes: a high-pressure rotary joint 311, a high-pressure water pipe 312, a bracket 313, a rotary mechanism 314, a five-way valve 315 and a high-pressure spray head 316; the rotating mechanism 314 is composed of a motor and a gear; the five-way valve 315 is arranged in the rust removing disc cavity 321, the middle hole of the five-way valve 315 is connected with the high-pressure water pipe 312, and the other four holes are connected with a high-pressure spray head 316; the high-pressure spray head 316 is provided with a plurality of high-pressure spray nozzles; the high pressure water pipe 312 sequentially penetrates through the high pressure rotary joint 311 and the gear of the rotary mechanism 314. During the working process, the pipeline of the external high-pressure water pipe 312 is connected with the fixed end at the upper part of the high-pressure rotary joint 311, the rotary section of the high-pressure rotary joint 311 is driven by the rotary mechanism 314 to rotate, and high-pressure water flows to the high-pressure spray head 316 through the high-pressure rotary joint 311, the high-pressure water pipe 312 and the five-way valve 315; the high pressure nozzle 316 is provided with a plurality of nozzles through which high pressure water is sprayed. The high-pressure water pipe 312 is fixedly connected with a rotary interface at the lower end of the high-pressure rotary joint 311 and limited by two tapered roller bearings.
The second flexible connecting mechanism 33 includes a connecting bracket 331, a clasping tool 332, a guide shaft 333, a linear bearing 334, a compression spring 335, a limiting block 336 and a limiting spring 337. The holding clamp 332 is fixedly connected with the rust removing disc cavity 321. The linear bearing 334 is fixedly connected with the clasping clamp 332. The second flexible connecting mechanism 33 is mounted on the body frame 15 through a connecting frame 331. The robot body support 15 carries the rust removal module 3 to complete the task of rust removal.
In an embodiment, as shown in fig. 6, the painting module 4 includes a crank and rocker mechanism 41, a painting system 42, and an air drying system 43. The painting system 42 is composed of a high atomization nozzle 421, a high pressure air pipe 422 and a paint pipe 423. The high atomization nozzle 421 is installed at the tail end of the crank remote rod mechanism 41 and used for spraying paint; the high atomization nozzle 421 has three joints, and the high pressure air pipeline 422 and the coating pipeline 423 are respectively connected to the corresponding joints; the air drying system 43 is installed in front of the painting system 42 and used for descaling and air drying before painting. The paint spray module has partially identical parts to the anti-tip device 16. The anti-overturning device 16 can be replaced by a painting module 4 during painting operation.
Claims (7)
1. A multi-tool ship maintenance robot comprises a robot moving body (1), wherein the robot moving body (1) comprises a body support (15) and a working module arranged on the body support (15); it is characterized in that the preparation method is characterized in that,
the body support (15) comprises a crawler walking device, a double-row chain wheel (13) and an anti-overturning mechanism (16), wherein the crawler walking device comprises a magnetic adsorption device (12) and a double-row chain (14) with a bent plate; the double-row chain wheel (13) is arranged on the body bracket (15) and is matched with a double-row chain (14) on the crawler belt walking device to form a chain transmission mechanism; the magnetic adsorption device (12) is used for adsorbing a working surface, so that the crawler walking device can drive the body support (15) and the working module to crawl along the working surface;
the working module comprises a cleaning module (2), a derusting module (3) and a paint spraying module (4), the cleaning module (2) adopts a main and auxiliary rotating brush system which is symmetrical left and right and a shearing mechanism (22) driven by a slider-crank mechanism, and is used for cleaning a working surface; the rust removal module (3) adopts a motor to drive a rotatable component to realize adjustable rotating speed and is used for rust removal operation on a working surface; the paint spraying module (4) adopts an air drying component to air-dry and clean the surface before paint spraying, and is used for paint spraying operation on a working surface;
the body support (15) can be assembled and combined with the cleaning module (2), the derusting module (3) and the paint spraying module (4) respectively to complete cleaning operation, derusting operation and paint spraying operation respectively; or the rust removal module (3) and the paint spraying module (4) are matched at the same time to carry out rust removal and paint spraying operation.
2. The multi-tool marine service robot of claim 1, wherein: the double-row chain wheel (13) comprises a tension wheel (131), a plurality of driven wheels (132) and a driving wheel (133), and the tension wheel (131) is pressed and limited by a tension device.
3. The multi-tool marine service robot of claim 1, wherein: the magnetic adsorption device (12) is arranged on a double-row chain (14) with a bent plate.
4. The multi-tool marine service robot of claim 1, wherein: the overturn prevention mechanism (16) comprises a support plate (161) and an overturn wheel (162); the body bracket (15) is symmetrical left and right relative to the support plate (161), and a main support plate (151) and an auxiliary support plate (152) are respectively arranged at two sides; the main support plate (151) and the auxiliary support plate (152) are fixedly connected through a plurality of support shafts (153); the two main support plates (151) are fixedly connected by an aluminum alloy section bar (154); the aluminum alloy fixing profile (154) is reinforced by a V-shaped aluminum alloy plate (155).
5. The multi-tool marine service robot of claim 1, wherein: the cleaning module (2) comprises two brush discs which are symmetrical left and right, a shearing mechanism (22) and a fixing plate (23); the fixed plate (23) is mounted on the body support (15) through a bolt, and the cleaning module (2) is connected with the body support (15) through the fixed plate (23);
the brush disc is divided into a main brush disc (211) and an auxiliary brush disc (212); a plurality of brushes (213) which are distributed circumferentially are arranged on the main brush disc (211) and the auxiliary brush disc (212); the brush (213) is connected with the brush disc through a first flexible connecting mechanism (214); the first flexible connecting mechanism (214) consists of a bolt and a spring; the main brush disc (211) and the auxiliary brush disc (212) are driven by a chain (215); the main brush disc (211) is driven (216) by a first motor; the shearing mechanism (22) is arranged in front of the cleaning module (2) and is used for removing the convex attachments; the shearing mechanism (22) comprises an upper shearing block (221) and a lower shearing block (222); the upper shear block (221) is mounted on the cleaning module; the lower shearing module (222) and the upper shearing module (221) have limited relative displacement; the lower shearing module (222) is driven by a second motor (223) through a crank-slider mechanism (224).
6. The multi-tool marine service robot of claim 1, wherein: the rust removal module (3) comprises: the high-pressure rust removal system (31), the vacuum recovery system (32) and two symmetrical second flexible connecting mechanisms (33);
the vacuum recovery system (32) comprises a rust removing disc cavity (321), a sealing brush (322), a supporting universal wheel (323) and a vacuum pipeline connecting port (324); the vacuum pipeline connecting port (324) is connected with a vacuum pipeline and continuously pumps dirt, old paint coats, rust and air in the rust removing disc cavity (321), so that the dirt is removed, the rust and the air are dried, and negative pressure adsorption force is generated; sealing by using a sealing hairbrush (322) at the bottom of the derusting module (3), and reducing the friction loss of the sealing hairbrush (322) by using a supporting universal wheel (323);
the high-pressure rust removal system (31) includes: the device comprises a high-pressure rotary joint (311), a high-pressure water pipe (312), a bracket (313), a rotary mechanism (314), a five-way valve (315) and a high-pressure spray head (316); the rotating mechanism (314) consists of a motor and a gear; the five-way valve (315) is arranged in the rust removing disc cavity (321), the middle hole of the five-way valve (315) is connected with the high-pressure water pipe (312), and the rest four holes are connected with a high-pressure spray head (316) respectively; a plurality of high-pressure nozzles are arranged on the high-pressure spray head (316); the high-pressure water pipe (312) sequentially penetrates through the high-pressure rotary joint (311) and the gear of the rotary mechanism (314), the pipeline of the external high-pressure water pipe (312) is connected with the fixed end of the upper part of the high-pressure rotary joint (311), and the high-pressure water pipe (312) is fixedly connected with a rotary interface at the lower end of the high-pressure rotary joint (311) and limited by two tapered roller bearings; the rotating section of the high-pressure rotating joint (311) is driven to rotate by the rotating mechanism (314), and high-pressure water flows to the high-pressure spray head (316) through the high-pressure rotating joint (311) and the high-pressure water pipe (312) and the five-way valve (315) and is sprayed out by the spray nozzle; the high-pressure rust removal system (31) is arranged on the rust removal disc cavity (321); the bracket (313) is connected to the body bracket (15) through a screw;
the second flexible connecting mechanism (33) comprises a connecting support (331), a clamp (332), a guide shaft (333), a linear bearing (334), a compression spring (335), a limiting block (336) and a limiting spring (337); the holding clamp (332) is fixedly connected with the rust removing disc cavity (321); the linear bearing (334) is fixedly connected with the holding clamp (332), and the second flexible connecting mechanism (33) is installed on the body support (15) through a connecting support (331).
7. The multi-tool marine service robot of claim 1, wherein: the paint spraying module (4) comprises a crank rocker mechanism (41), a paint spraying system (42) and an air drying system (43); the paint spraying module (4) is arranged on the overturn preventing mechanism (16);
the paint spraying system (42) comprises a high-atomization spray head (421), a high-pressure air pipeline (422) and a paint pipeline (423); the high-atomization spray head (421) is arranged at the tail end of the crank remote rod mechanism (41) and is used for spraying paint; the high-atomization nozzle (421) is provided with three joints, and the high-pressure air pipeline (422) and the coating pipeline (423) are respectively connected to the corresponding joints; and the air drying system (43) is arranged in front of the high atomizing spray head (421) and is used for descaling and air drying before painting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110598296.1A CN113148051A (en) | 2021-05-31 | 2021-05-31 | Multi-tool ship maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110598296.1A CN113148051A (en) | 2021-05-31 | 2021-05-31 | Multi-tool ship maintenance robot |
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| CN113148051A true CN113148051A (en) | 2021-07-23 |
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| CN202110598296.1A Pending CN113148051A (en) | 2021-05-31 | 2021-05-31 | Multi-tool ship maintenance robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670990A (en) * | 2022-04-13 | 2022-06-28 | 滨州学院 | Ship hull repairing robot |
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2021
- 2021-05-31 CN CN202110598296.1A patent/CN113148051A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114670990A (en) * | 2022-04-13 | 2022-06-28 | 滨州学院 | Ship hull repairing robot |
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