CN113548160A - Ultrahigh-pressure water derusting dock floor operation vehicle - Google Patents
Ultrahigh-pressure water derusting dock floor operation vehicle Download PDFInfo
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- CN113548160A CN113548160A CN202110696849.7A CN202110696849A CN113548160A CN 113548160 A CN113548160 A CN 113548160A CN 202110696849 A CN202110696849 A CN 202110696849A CN 113548160 A CN113548160 A CN 113548160A
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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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
Abstract
The utility model provides an ultrahigh pressure water rust cleaning dock floor operation car which characterized in that: the automatic derusting machine comprises a frame, a crawler chassis, a derusting mechanism, an arm support telescopic mechanism and a control system, wherein the crawler chassis is arranged at the bottom of the frame, the crawler chassis realizes walking, steering and speed regulation through a hydraulic walking system, the arm support telescopic mechanism can be arranged on the frame in a manner of rotating up and down and left and right at a certain angle, the derusting mechanism is detachably arranged at the upper end of the arm support telescopic mechanism and comprises a derusting head, and the derusting head enables a cleaning surface to be always attached to the surface of an outer plate at the bottom of a ship through an attaching oil cylinder. The invention has reasonable and compact structure, high automation degree and good derusting effect, and greatly improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of ship rust removal, in particular to an ultrahigh pressure water rust removal dock floor operation vehicle which is used for removing rust at the bottom of a ship in the dock floor.
Background
The ship rust removal is an important step for ship dock repair, and is an important work in the ship repair process, and the original operation process is treatment in modes of sand blasting and the like. Because a large amount of dust is generated during sand blasting, the sand blasting machine not only brings great pollution to the atmospheric environment and the field operation environment, but also brings great physical harm to field constructors.
At present, the equipment for rust removal by using ultrahigh pressure water is mature. The ultrahigh pressure water derusting dock floor operation vehicle is a necessary means for solving the derusting operation of the dock floor. The method can improve the operation efficiency of the rust removal of the dock bottom, reduce the operation intensity of constructors, and realize the comprehensive recovery and treatment of the rust removal sewage, thereby achieving the purpose of mechanization of the rust removal operation of the bottom of the dock ship.
According to the investigation, the traditional Chinese patent with the patent publication number of CN209776764 (China patent application number of CN 209764U) discloses an ultra-high pressure water dock bottom derusting trolley, which comprises a trolley body and a derusting device arranged on the trolley body, wherein the trolley body is a tracked trolley adopting a track as a walking mechanism, the trolley is provided with a lifting platform for installing the derusting device, and the platform has the functions of derusting and sewage recovery, the derusting device can be lifted through the platform, and a derusting head is adjusted in four degrees of freedom in the front, back, left and right directions. But the adjustment of the derusting head is not flexible enough, the derusting head is not designed to well act on the bottom of the ship, and the derusting operation efficiency of the bottom of the ship is relatively low.
Further, chinese patent CN 107321671A, "rust removing vehicle and rust removing method using ultra-high pressure water", includes a vehicle body, a vacuum recovery system, an ultra-high pressure water rust removing device, and a reciprocating structure arranged in front of the vehicle body, wherein the rust removing device is mounted on the reciprocating structure, but the adjustment of the rust removing device by the reciprocating mechanism is not flexible enough, and large-area and high-efficiency operation of the bottom of the ship cannot be realized.
Therefore, the derusting device suitable for the bottom of the ship in the dock needs to be designed, so that the derusting of the bottom plate of the ship is more automatic and mechanical, and the derusting operation efficiency of the bottom of the ship is improved.
Disclosure of Invention
The invention aims to solve the technical problem of providing the ultrahigh-pressure water derusting and dock bottom docking operation vehicle which is simple and reasonable in structure and high in derusting efficiency aiming at the technical current situation.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an ultrahigh pressure water rust cleaning dock floor operation car which characterized in that: the dock floor cleaning device comprises a frame, a crawler chassis, a derusting mechanism, an arm support telescopic mechanism and a control system, wherein the crawler chassis is arranged at the bottom of the frame, the crawler chassis realizes walking, steering and speed regulation through a hydraulic walking system, the arm support telescopic mechanism can be arranged on the frame in a manner of rotating up and down and left and right at a certain angle, the derusting mechanism is detachably arranged at the upper end of the arm support telescopic mechanism and comprises a derusting head, and the cleaning surface of the derusting head is always attached to the surface of an outer plate at the bottom of a dock floor ship through an attaching oil cylinder.
As an improvement, the boom extension mechanism comprises an extension arm, a large arm jacking oil cylinder, a small arm rotating oil cylinder and a fitting oil cylinder, the extension arm consists of a large arm, a middle arm and a small arm, the middle arm is telescopically arranged at the front end of the large arm, the small arm is telescopically arranged at the front end of the middle arm, the rear end of the large arm is connected with a gear disc rotating mechanism arranged on a crawler chassis, the large arm jacking oil cylinder is arranged between the lower end face of the rear part of the large arm and a frame to realize the up-down height adjustment of the extension arm, and the large arm is internally provided with the extension oil cylinder for driving the middle arm and the small arm to extend.
The crawler chassis is further improved, a diesel prime motor, a hydraulic oil tank and a hydraulic variable pump are arranged in the crawler chassis, and a hydraulic traveling system comprises a normally-closed electromagnetic overflow valve, a reversing valve group, a hydraulic motor, a balance valve, a liquid level meter, a filter and a cooler; the crawler chassis is driven by a hydraulic motor to move forwards and backwards, and steering is realized by a reversing valve bank. Hydraulic oil of a hydraulic oil tank is conveyed to a multi-way valve group through a hydraulic variable pump, one path of output of the multi-way valve group is connected with a double-acting single-rod oil cylinder through a one-way sequence valve to control the amplitude of the small arm, one path of output of the multi-way valve group is connected with a swing motor through a hydraulic lock to control a derusting head to rotate, one path of output of the multi-way valve group is connected with a quick control oil pipe of a traveling motor, and one path of output of the multi-way valve group is connected with a hydraulic motor and used for vacuum recovery; hydraulic oil of a hydraulic oil tank is conveyed to another multi-way valve bank through a hydraulic variable displacement pump, one path of output connection right walking motor of the multi-way valve bank is connected with a reversing valve bank on an inlet and outlet pipeline of the right walking motor, one path of output connection left walking motor of the multi-way valve bank is connected with a walking motor buffer mechanism on an inlet and outlet pipeline of the left walking motor, one path of output rotary motor of the multi-way valve bank, one path of output of the multi-way valve bank is connected with a large arm telescopic oil cylinder through a one-way sequence valve, one path of output of the multi-way valve bank is connected with a large arm variable amplitude oil cylinder through the one-way sequence valve, and a P port and an R port of the multi-way valve bank are respectively connected with a normally closed electromagnetic overflow valve.
Further, a U-shaped concave cavity is arranged at the middle rear part of the upper end face of the frame, a gear disc rotating mechanism is arranged at a position, close to the rear end of the frame, in the concave cavity, the upper end of the gear disc rotating mechanism is connected with the rear end of the large arm through a movable pin and drives the arm support telescopic mechanism to rotate left and right, a limiting mechanism for limiting the rotating angle is arranged below the gear disc rotating mechanism, and the gear disc rotating mechanism realizes the rotation of 30 degrees from left to right through the limiting mechanism.
Further, the derusting head is installed at the front end of the small arm through a derusting head support, the small arm is driven to rotate through a small arm rotating oil cylinder to achieve rotation of the derusting head, and the attaching oil cylinder is arranged between the derusting head support and the small arm.
Still further, the rust removing head comprises a rust removing head vacuum cavity, a rotating body seat, a bearing, a locking ring, a five-way body and nozzle mounting blocks, the number of the nozzle mounting blocks is three, 4 nozzles are arranged on each nozzle mounting block, each nozzle is distributed on different diameter tracks and does not interfere with each other and overlap, a nozzle is obliquely arranged on each nozzle mounting block, the rotating body is driven to rotate automatically when ultrahigh pressure water is sprayed, a sewage vacuum recovery pipeline is connected with a vacuum recovery pipe orifice, sewage is rapidly extracted from the rust removing head vacuum cavity, and the sealing condition of the vacuum cavity is realized by moving a hairbrush.
And furthermore, the diameter of the rust removing head is 450-550 mm, a scrubbing brush is arranged on a cleaning surface of the rust removing head, which is in contact with the steel plate, the width of the scrubbing brush is not less than 5cm, and the height of the scrubbing brush is 1.8-2.2 cm.
Still further, the rust removing head is externally provided with a vacuum recovery pipe orifice, the diameter of the sewage recovery interface is 85-95 mm, the vacuum recovery pipe orifice is connected with a sewage tank, the sewage tank is connected with a vacuum sewage recovery device, and waste water and waste residues generated by rust removing can be adsorbed into the sewage tank through the vacuum recovery pipe orifice and a vacuum pipeline.
Finally, the control system comprises an electric cabinet and a remote control device capable of controlling the operation of the derusting mechanism, the boom extension mechanism and the crawler chassis, the electric cabinet is arranged on the side surface of the frame, each electromagnetic valve group operation indicating unit and a button for controlling the diesel engine and the vacuum sewage recovery device are arranged on the electric cabinet, and a hydraulic emergency manual valve group is also arranged on the side surface of the frame; the transmitting device of the remote control device is arranged in the electric cabinet, the power supply of the transmitting device is supplied to the electric cabinet by the storage battery pack in the electric cabinet for one-way supply, and the remote controller realizes remote control within the range of 200 meters: the crawler is walking, steering, large arm lifting and descending, rotation, sewage recovery remote control, sewage drainage remote control and small arm remote control rotation of the telescopic arm, the small arm is attached to act through feedback of a hydraulic operation sensor, the act is realized through a hydraulic electromagnetic valve module, and the emergency starting/stopping of the whole crawler is realized by means of emergency starting and stopping. The stability of the hydraulic system is monitored in real time by a hydraulic sensor. The power stability of the diesel engine is monitored and fed back by a diesel engine sensor in real time.
Compared with the prior art, the invention has the advantages that: the remote control operation of the dock bottom vehicle is adopted to replace that constructors use a high-pressure water gun to carry out ship bottom derusting operation, the constructors can keep away from the dangerous action radius of ultrahigh-pressure water, labor force is greatly saved, and the automation and mechanization degree of the ship bottom derusting operation are increased; the operation is simple, and the construction is safe and reliable; the rust removing head can flexibly act on different ship bottom positions, the attaching oil cylinder enables the rust removing device to be tightly attached to the outer plate, the ultrahigh pressure water rust removing mechanism can guarantee the hitting effect to the maximum extent, and a good vacuum environment is provided for vacuum recovery of later-stage paint coats and iron rust. The invention has reasonable and compact structure, high automation degree and good derusting effect, and greatly improves the working efficiency.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another embodiment of the present invention;
FIG. 3 is a hydraulic schematic of the present invention;
FIG. 4 is a side view of a rust removing head of the present invention;
FIG. 5 is a top view of the rust removing head of the present invention;
fig. 6 is a diagram of an electrical system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
As shown in fig. 1 to 3, the ultrahigh-pressure water rust removal dock floor operation vehicle comprises a frame 1, a track chassis 2, a rust removal mechanism, an arm support telescopic mechanism and a control system, wherein the track chassis 2 is arranged at the bottom of the frame 1, the track chassis 2 realizes walking, steering and speed regulation through a hydraulic walking system, the arm support telescopic mechanism can be arranged on the frame 1 in a manner of rotating up, down, left and right at a certain angle, the rust removal mechanism is detachably arranged at the upper end of the arm support telescopic mechanism, the rust removal mechanism comprises a rust removal head 3, and a cleaning surface of the rust removal head 3 is always attached to the surface of an outer plate at the bottom of a ship through an attaching oil cylinder 30.
The concrete structure is as follows: the boom frame telescopic mechanism comprises a telescopic boom 4, a boom jacking cylinder 10, a small boom rotating cylinder 20 and a fitting cylinder 30, wherein the telescopic boom 4 consists of a boom 41, a middle boom 42 and a small boom 43, the middle boom 42 is telescopically arranged at the front end of the boom 41, the small boom 43 is telescopically arranged at the front end of the middle boom 42, the rear end of the boom 41 is connected with a gear disc rotating mechanism 5 arranged on a crawler chassis 2, the boom jacking cylinder 10 is arranged between the lower end surface of the rear part of the boom 41 and a frame 1 to realize the vertical height adjustment of the telescopic boom 4, and the telescopic cylinder for driving the middle boom 42 and the small boom 43 to stretch is arranged in the boom 41. The crawler chassis 2 is used for supporting the whole mass and walking of the frame 1 and the machine, the crawler chassis 1 simultaneously transmits and bears various forces and moments, impact and vibration caused by uneven road surfaces are alleviated, the climbing capacity of the crawler is larger than or equal to 10 degrees, the weight of the whole crawler is about 5 tons, the running speed of the crawler is 0-5KM/h, and the working speed is 0-0.5 KM/h.
The crawler chassis 2 is internally provided with a diesel prime mover 1.1, a hydraulic oil tank 1.3 and a hydraulic variable pump 1.2, and the hydraulic traveling system comprises a normally closed electromagnetic overflow valve 111, an overflow pressure reducing valve 110, a reversing valve group 1.8, a hydraulic motor 114, a traveling motor 115, a balance valve 113, a liquid level meter 1.4, an oil filter 1.6 and a cooler 1.5; the crawler chassis 2 is driven by a hydraulic motor 114 to move forward and backward, and steering is realized by a reversing valve group 1.8. Specifically, as shown in fig. 3, hydraulic oil in a hydraulic oil tank 1.3 is delivered to a multi-way valve group 200 through a hydraulic variable displacement pump 1.2, one output of the multi-way valve group 200 is connected with a double-acting single-rod oil cylinder through a one-way sequence valve to control the amplitude of the small arm, one output of the multi-way valve group 200 is connected with a swing motor through a hydraulic lock to control the rotation of a derusting head, one output of the multi-way valve group 200 is connected with a quick control oil pipe of a walking motor 115, and one output of the multi-way valve group 200 is connected with a hydraulic motor 114 for vacuum recovery; hydraulic oil of a hydraulic oil tank 1.3 is delivered to another multi-way valve group 300 through a hydraulic variable displacement pump 1.2, one way of output of the multi-way valve group 300 is connected with a right walking motor 115, an inlet and outlet pipeline of the right walking motor 115 is connected with a reversing valve group 1.8, one way of output of the multi-way valve group 300 is connected with a left walking motor 115, an inlet and outlet pipeline of the left walking motor 115 is connected with a walking motor buffer mechanism 1.9, one way of output of the multi-way valve group 300 is connected with a rotary motor, one way of output of the multi-way valve group 300 is connected with a boom telescopic cylinder through a one-way sequence valve, one way of output of the multi-way valve group 300 is connected with a boom variable amplitude cylinder through a one-way sequence valve, a P port and an R port of the multi-way valve group 300 are respectively connected with a normally-closed electromagnetic overflow valve 111, wherein the electromagnetic overflow valve 111 and the overflow pressure reducing valve 110 ensure that the rotating speeds of hydraulic motors of the crawler are consistent to ensure that the linear walking of the dock floor vehicle is achieved, and the reversing valve group 1.8 ensures that the left and right crawler hydraulic motors of the dock floor vehicle are opened to achieve motor square when the steering of the dock floor vehicle is required It is conventional knowledge to differentiate between directions and thus achieve steering.
A U-shaped concave cavity is arranged at the middle rear part of the upper end surface of the frame 1, the gear disc rotating mechanism 5 is arranged in the concave cavity and close to the rear end of the frame 1, the upper end of the gear disc rotating mechanism 5 is connected with the rear end of the large arm 41 through a movable pin and drives the arm support telescopic mechanism to rotate left and right, a limiting mechanism for limiting the rotating angle is arranged below the gear disc rotating mechanism 5, and the gear disc rotating mechanism 5 realizes the rotation of the angle of 30 degrees from left to right through the limiting mechanism.
The derusting head 3 is arranged at the front end of the small arm 43 through a derusting head bracket, the small arm 43 is driven to rotate through the small arm rotating oil cylinder 20 so as to realize the rotation of the derusting head 3, and the joint oil cylinder 30 is arranged between the derusting head bracket and the small arm 43, so that the derusting head 3 is tightly attached to the surface to be derusted. The specific structure of the rust removing head 3 is shown in figures 4 and 5, the rust removing head 3 comprises a rust removing head vacuum cavity 31, a rotating body 33, a rotating body seat 37, a bearing 38, a locking ring 39, a five-way body and nozzle mounting blocks 32, the number of the nozzle mounting blocks 32 is three, 4 nozzles 34 are arranged on each nozzle mounting block 32, each nozzle 34 is distributed on tracks with different diameters and does not interfere with each other and overlap with each other, one nozzle 34 is obliquely arranged on each nozzle mounting block 32, the rotating body 33 is driven to run during ultrahigh pressure water spraying, a sewage vacuum recovery pipeline is connected with a vacuum recovery pipe orifice 35, sewage is rapidly extracted from the rust removing head vacuum cavity 31, and the vacuum cavity 31 is sealed by a hard brush 36. The diameter of the rust removing head 3 of the embodiment is 500mm, the cleaning surface of the rust removing head 3 contacted with the steel plate is provided with the bristle brush 36, the width of the bristle brush 36 is not less than 5cm, and the height of the bristle brush 36 is 2 cm. The outside of the rust removing head 3 is provided with a vacuum recovery pipe orifice 35, the diameter of the vacuum recovery pipe orifice 35 is 90mm, the vacuum recovery pipe orifice 35 is connected with a sewage tank, the sewage tank is connected with a vacuum sewage recovery device, and waste water and waste residue generated by rust removal are absorbed into the sewage tank through vacuum. The vacuum system power of the vacuum sewage recovery device comes from a main hydraulic pump, acts on a high-speed hydraulic motor through a hydraulic electromagnetic valve group, is transmitted to a high-pressure centrifugal exhaust fan through a hydraulic motor belt pulley to realize that the vacuum system power acts on a sewage tank, and is connected to a rust removal head device through the sewage tank, so that the sewage in a rust removal head cavity is rapidly recovered.
The control system comprises an electric cabinet 6 and a remote control device capable of controlling the operation of the derusting mechanism, the boom extension mechanism and the crawler chassis 2, wherein the electric cabinet 6 is arranged on the side surface of the frame 1, each electromagnetic valve group work indication unit 62 and a button 63 for controlling the diesel engine and the vacuum sewage recovery device are arranged on the electric cabinet 6, and a hydraulic emergency manual valve group 7 is also arranged on the side surface of the frame 1; the emitter 65 of the remote control device is arranged in the electric cabinet 6, the power supply of the emitter is supplied to the electric cabinet by the storage battery pack 68 for one-way supply, and the remote control device realizes remote control within the range of 200 meters: the crawler travels, turns to, and the big arm of flexible arm 4 goes up and down, rotates, sewage recovery remote control, sewage drainage remote control, the forearm remote control is rotatory, and the forearm laminating action is through the feedback of hydraulic pressure class operation sensor, and the action is realized through hydraulic pressure solenoid valve module 67, and the emergent start/stop of whole car relies on emergent start-stop module to realize. The stability of the hydraulic system is monitored in real time by a hydraulic sensor 65. The power stability of the diesel engine is monitored and fed back in real time by a diesel engine sensor 69, as shown in fig. 6.
In the embodiment, a 33KW Weichai diesel engine and a 69L/min/39.6L/min hydraulic pump set are selected, and the design pressure of a hydraulic system is 240 bar; the diesel engine provides power for the hydraulic pump set through the oil pump transmission key linkage device, the hydraulic pump set acts on the hydraulic motor, the hydraulic oil cylinder and the hydraulic system through various valves and valve groups of a hydraulic pipeline, and the components are arranged in the dock bottom vehicle chassis. The electrical schematic diagram of the present embodiment is shown in fig. 3, and is not described here in detail.
During rust removal, the high-pressure water gun can be used for replacing constructors to perform rust removal operation on the ship bottom of the ship by operating the remote controller, the constructors can be far away from the dangerous action radius of ultrahigh-pressure water, labor force is greatly saved, and the automation and the mechanization degree of the rust removal operation on the ship bottom are increased. The operation is simple, and the construction is safe and reliable; the rust removing head can be flexibly arranged at different ship bottom positions, the automation degree is high, the rust removing effect is good, and the operation efficiency is greatly improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The utility model provides an ultrahigh pressure water rust cleaning dock floor operation car which characterized in that: the dock floor cleaning device comprises a frame, a crawler chassis, a derusting mechanism, an arm support telescopic mechanism and a control system, wherein the crawler chassis is arranged at the bottom of the frame, the crawler chassis realizes walking, steering and speed regulation through a hydraulic walking system, the arm support telescopic mechanism can be arranged on the frame in a manner of rotating up and down and left and right at a certain angle, the derusting mechanism is detachably arranged at the upper end of the arm support telescopic mechanism and comprises a derusting head, and the cleaning surface of the derusting head is always attached to the surface of an outer plate at the bottom of a dock floor ship through an attaching oil cylinder.
2. The ultra-high pressure water rust removal dock floor operation vehicle of claim 1, characterized in that: the arm support telescopic mechanism comprises a telescopic arm, a large arm jacking oil cylinder, a small arm rotating oil cylinder and a laminating oil cylinder, wherein the telescopic arm comprises a large arm, a middle arm and a small arm, the middle arm is telescopically arranged at the front end of the large arm, the small arm is telescopically arranged at the front end of the middle arm, the rear end of the large arm is connected with a gear disc rotating mechanism arranged on a crawler chassis, the large arm jacking oil cylinder is arranged between the lower rear end face of the large arm and a frame to realize the up-down height adjustment of the telescopic arm, and the large arm is internally provided with the telescopic oil cylinder for driving the middle arm and the small arm to stretch.
3. The ultra-high pressure water rust removal dock floor operation vehicle of claim 1, characterized in that: the crawler chassis is internally provided with a diesel prime mover, a hydraulic oil tank and a hydraulic variable pump, and the hydraulic traveling system comprises a normally closed electromagnetic overflow valve, a reversing valve group, a hydraulic motor, a balance valve, a liquid level meter, a filter and a cooler; the crawler chassis is driven by a hydraulic motor to move forwards and backwards, and steering is realized by a reversing valve bank;
hydraulic oil of a hydraulic oil tank is conveyed to a multi-way valve group through a hydraulic variable pump, one path of output of the multi-way valve group is connected with a double-acting single-rod oil cylinder through a one-way sequence valve to control the amplitude of the small arm, one path of output of the multi-way valve group is connected with a swing motor through a hydraulic lock to control a derusting head to rotate, one path of output of the multi-way valve group is connected with a quick control oil pipe of a traveling motor, and one path of output of the multi-way valve group is connected with a hydraulic motor and used for vacuum recovery; hydraulic oil of a hydraulic oil tank is conveyed to another multi-way valve bank through a hydraulic variable displacement pump, one path of output connection right walking motor of the multi-way valve bank is connected with a reversing valve bank on an inlet and outlet pipeline of the right walking motor, one path of output connection left walking motor of the multi-way valve bank is connected with a walking motor buffer mechanism on an inlet and outlet pipeline of the left walking motor, one path of output rotary motor of the multi-way valve bank, one path of output of the multi-way valve bank is connected with a large arm telescopic oil cylinder through a one-way sequence valve, one path of output of the multi-way valve bank is connected with a large arm variable amplitude oil cylinder through the one-way sequence valve, and a P port and an R port of the multi-way valve bank are respectively connected with a normally closed electromagnetic overflow valve.
4. The ultra-high pressure water rust removal dock floor operation vehicle of claim 1, characterized in that: the middle rear part of the upper end surface of the frame is provided with a U-shaped concave cavity, the gear disc rotating mechanism is arranged at a position close to the rear end of the frame in the concave cavity, the upper end of the gear disc rotating mechanism is connected with the rear end of the large arm through a movable pin and drives the arm support telescopic mechanism to rotate left and right, a limiting mechanism for limiting the rotation angle is arranged below the gear disc rotating mechanism, and the gear disc rotating mechanism realizes the rotation of the angle of 30 degrees to 30 degrees right through the limiting mechanism.
5. The ultra-high pressure water rust removal dock floor operation vehicle of claim 2, characterized in that: the rust removing head is arranged at the front end of the small arm through a rust removing head support, the small arm is driven to rotate through a small arm rotating oil cylinder to achieve rotation of the rust removing head, and the attaching oil cylinder is arranged between the rust removing head support and the small arm.
6. The ultra-high pressure water rust removal dock floor operation vehicle rust removal head of claim 1, characterized in that: the rust removing head comprises a rust removing head vacuum cavity, a rotating body seat, a bearing, a locking ring, a five-way body and nozzle mounting blocks, wherein the number of the nozzle mounting blocks is three, 4 nozzles are arranged on each nozzle mounting block, each nozzle is distributed on different diameter tracks and does not interfere with each other and overlap with each other, a nozzle is obliquely arranged on each nozzle mounting block, the rotating body is driven to automatically operate when ultrahigh pressure water is sprayed, a sewage vacuum recovery pipeline is connected with a vacuum recovery pipe orifice, sewage is rapidly extracted from the rust removing head vacuum cavity, and the sealing condition of the vacuum cavity is realized by moving a brush.
7. The ultra-high pressure water rust removal dock floor operation vehicle of claim 6, characterized in that: the diameter of the rust removing head is 450-550 mm, a scrubbing brush is arranged on a cleaning surface of the rust removing head, which is in contact with the steel plate, the width of the scrubbing brush is not less than 5cm, and the height of the scrubbing brush is 1.8-2.2 cm.
8. The vacuum recovery mechanism of the rust removing head of the ultrahigh-pressure water rust removing and dock floor operation vehicle as claimed in claim 6, is characterized in that: the rust cleaning head is externally provided with a vacuum recovery pipe orifice, the diameter of the sewage recovery interface is 85-95 mm, the vacuum recovery pipe orifice is connected with a sewage tank, the sewage tank is connected with a vacuum sewage recovery device, and waste water and waste residues generated by rust cleaning can be adsorbed into the sewage tank through the vacuum recovery pipe orifice and a vacuum pipeline.
9. The ultra-high pressure water rust removal dock floor operation vehicle of any one of claims 2 to 8, characterized in that: the control system comprises an electric cabinet and a remote control device capable of controlling the operation of the derusting mechanism, the boom extension mechanism and the crawler chassis, the electric cabinet is arranged on the side surface of the frame, each electromagnetic valve group work indication unit and a button for controlling the diesel engine and the vacuum sewage recovery device are arranged on the electric cabinet, and a hydraulic emergency manual valve group is also arranged on the side surface of the frame; the transmitting device of the remote control device is arranged in the electric cabinet, the power supply of the transmitting device is supplied to the electric cabinet by the storage battery pack in the electric cabinet for one-way supply, and the remote controller realizes remote control within the range of 200 meters: the crawler is walking, steering, large arm lifting and descending, rotation, sewage recovery remote control, sewage drainage remote control and small arm remote control rotation of the telescopic arm, the small arm is attached to act through feedback of a hydraulic operation sensor, the act is realized through a hydraulic electromagnetic valve module, and the emergency starting/stopping of the whole crawler is realized by means of emergency starting and stopping. The stability of the hydraulic system is monitored in real time by a hydraulic sensor, and the power stability of the diesel engine is monitored and fed back in real time by a diesel engine sensor.
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| CN202110696849.7A CN113548160A (en) | 2021-06-23 | 2021-06-23 | Ultrahigh-pressure water derusting dock floor operation vehicle |
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| CN202110696849.7A CN113548160A (en) | 2021-06-23 | 2021-06-23 | Ultrahigh-pressure water derusting dock floor operation vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117184354A (en) * | 2023-10-07 | 2023-12-08 | 上海海桓科技有限公司 | Ultra-high pressure device for cleaning operation vehicle |
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| CN109807854A (en) * | 2019-03-22 | 2019-05-28 | 舟山万邦永跃船舶修造有限公司 | Ship Building and Repairing dock repair docking block position-specific intelligent robot |
| CN110594215A (en) * | 2019-10-14 | 2019-12-20 | 天津萨克赛斯机械技术开发有限公司 | High-arm hull rust removal robot and hydraulic control system thereof |
| CN210678704U (en) * | 2019-10-14 | 2020-06-05 | 天津萨克赛斯机械技术开发有限公司 | Ship bottom rust removal robot |
| CN111332426A (en) * | 2020-02-28 | 2020-06-26 | 舟山中远海运重工有限公司 | Ultrahigh-pressure water rust removal intelligent overhead vehicle |
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2021
- 2021-06-23 CN CN202110696849.7A patent/CN113548160A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109807854A (en) * | 2019-03-22 | 2019-05-28 | 舟山万邦永跃船舶修造有限公司 | Ship Building and Repairing dock repair docking block position-specific intelligent robot |
| CN110594215A (en) * | 2019-10-14 | 2019-12-20 | 天津萨克赛斯机械技术开发有限公司 | High-arm hull rust removal robot and hydraulic control system thereof |
| CN210678704U (en) * | 2019-10-14 | 2020-06-05 | 天津萨克赛斯机械技术开发有限公司 | Ship bottom rust removal robot |
| CN111332426A (en) * | 2020-02-28 | 2020-06-26 | 舟山中远海运重工有限公司 | Ultrahigh-pressure water rust removal intelligent overhead vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117184354A (en) * | 2023-10-07 | 2023-12-08 | 上海海桓科技有限公司 | Ultra-high pressure device for cleaning operation vehicle |
| CN117184354B (en) * | 2023-10-07 | 2024-03-22 | 上海海桓科技有限公司 | Ultra-high pressure device for cleaning operation vehicle |
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