CN114802529A - Ship cleaning robot - Google Patents
Ship cleaning robot Download PDFInfo
- Publication number
- CN114802529A CN114802529A CN202210392774.8A CN202210392774A CN114802529A CN 114802529 A CN114802529 A CN 114802529A CN 202210392774 A CN202210392774 A CN 202210392774A CN 114802529 A CN114802529 A CN 114802529A
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- CN
- China
- Prior art keywords
- disc
- floating support
- strong magnetic
- ship
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- 238000007667 floating Methods 0.000 claims abstract description 38
- 238000009434 installation Methods 0.000 claims abstract description 6
- 239000007921 spray Substances 0.000 claims description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 238000005507 spraying Methods 0.000 claims description 12
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 239000000741 silica gel Substances 0.000 claims description 2
- 229910002027 silica gel Inorganic materials 0.000 claims description 2
- 239000002689 soil Substances 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000576 coating method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003801 milling Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Images
Classifications
-
- 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
- B62D57/04—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 having other than ground-engaging propulsion means, e.g. having propellers
-
- 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 In General (AREA)
Abstract
A robot for cleaning a ship, comprising a housing (17), characterized in that: two sides of the front end of the shell (17) are respectively provided with a driving wheel (8) which is installed in a floating mode, the driving wheels (8) are driven to rotate by a worm (5) installed in a floating support (15), and the floating support (15) is positioned in a floating support installation seat (19) in the shell (17) through a floating support shaft (16); a strong magnetic disk mounting seat (20) is mounted at the rear part of the shell (17), a strong magnetic disk (1) is mounted around the strong magnetic disk mounting seat (20), a plurality of small steering wheels (3) are mounted around the strong magnetic disk (1), and a cleaning rotating body assembly (11) is mounted in the center of the strong magnetic disk (1); and one or more uniformly distributed rotor fans (14) capable of generating thrust to enable the robot to press the ship body are arranged at the upper part of the shell (17). The invention has simple structure, reliable adsorption and convenient manufacture and assembly.
Description
Technical Field
The invention relates to a robot technology, in particular to a special-shaped surface cleaning robot, and specifically relates to a cleaning robot for a steamship.
Background
It is known that after a ship sails for a period of time, the ship needs to enter a port periodically for recoating due to surface corrosion, and before coating, the surface of the ship body needs to be cleaned, original coatings and surface attachments are removed, and the coating construction can be carried out again only after a substrate is exposed. The traditional manual grinding wheel polishing is gradually replaced by the robot technology due to low efficiency, and the spraying and cleaning of the surface of the ship body by using ultrahigh pressure water is the common robot cleaning technology at present. However, as far as the applicant knows, the existing cleaning robot has the problems of insufficient adsorption force, incapability of realizing underwater operation and low obstacle crossing capability, and needs to be improved urgently.
Disclosure of Invention
The invention aims to design a ship cleaning robot with large suction force, supplementary power and high milling speed for amphibious aiming at the problems of insufficient adsorption force, incapability of realizing underwater operation and low obstacle crossing capability of the existing cleaning robot.
The technical scheme of the invention is as follows:
the utility model provides a ship cleaning robot, it includes casing 17, is equipped with vacuum tube 2 that links to each other with the soil pick-up pump and the high-pressure water input tube 21 that links to each other with the high-pressure water generator on the casing 17, characterized by: two sides of the front end of the shell 17 are respectively provided with a driving wheel 8 which is installed in a floating way, the driving wheel 8 is driven by a worm 5 which is installed in a floating support 15 to rotate, the worm 5 is meshed with a worm wheel 4 which is installed in the floating support 15, the worm wheel 4 is driven by a servo motor 6 which is installed outside the floating support 15, the floating support 15 is positioned in a floating support installation seat 19 which is arranged in the shell 17 through a floating support shaft 16, the floating support shaft 16 can limit the axial movement of the floating support 15 without limiting the up-and-down movement of the floating support, so that the driving wheel which is connected with the floating support can overcome obstacles to perform deflection and lifting/descending movement on one side or two sides; a strong magnetic disk mounting seat 20 is mounted at the rear part of the shell 17, a strong magnetic disk 1 for enabling the whole robot to be adsorbed with a ship body to prevent the robot from falling off the ship body is mounted around the strong magnetic disk mounting seat 20, a plurality of small steering wheels 3 are mounted around the strong magnetic disk 1, on one hand, the small steering wheels enable the strong magnetic disk to keep a set distance with the surface of the ship body to form a cleaning gap, and on the other hand, the small steering wheels and driving wheels drive the whole robot to move along a set direction; a cleaning rotating body assembly 11 is arranged at the center of the strong magnetic disc 1; the upper part of the shell 17 is provided with one or more uniformly distributed rotor fans 14 which can generate thrust to enable the robot to press the ship body.
The number of the rotor fans 14 is 4, and the rotor fans are all arranged in corresponding cylindrical air cylinders.
The small steering wheel 3 is arranged on an auxiliary bracket 13 through a pin shaft 13, and the auxiliary bracket 13 is fixed on an auxiliary wheel mounting seat 22 on a strong magnetic disc mounting seat 20 through a nut 18.
The front end of the shell 17 is provided with a hanging ring 23.
The cleaning rotating body assembly 11 consists of an inner disc 24, an outer disc 25 and a rotating nozzle 10, a silica gel sealing gasket is additionally arranged between the inner disc 24 and the outer disc 25, the inner disc 24 is provided with an outer convex ring 26, the outer disc 24 is provided with an inner convex ring 27, one end of a pressing plate 28 is fixed on the inner disc 24, the other end of the pressing plate is connected with one end of a spring mounting shaft 29, a spring 30 is mounted on the spring mounting shaft 29, one end of the spring 30 abuts against the pressing plate 29, the other end of the spring abuts against the outer disc 25, a brush tightly attached to the cleaning surface is mounted on the end face of the outer disc 25, and the leakage of the cleaned dirt can be blocked by a circle of brush, so that the vacuum tube 2 communicated with the inner disc can discharge the dirt into a dirt collecting device in time; the spring 30 brings the brush on the end face of the outer disc 25 into contact with the cleaning surface; the outer 26 and inner 27 collars cooperate to allow axial movement of the outer disc 25 relative to the inner disc 24; the inner disc 24 is fixedly installed in the housing 17, the inner disc 24 is provided with a high pressure water input pipe 21, and the end of the high pressure water input pipe 21 located in the inner disc 24 is provided with the rotary nozzle assembly 10.
The rotary nozzle assembly 10 is composed of a rotary joint, a central spray disk 31 and spray arms 32, the rotary joint is connected with the output end of the high-pressure water input pipe 21, the central spray disk 31 is connected with the rotary joint, the spray arms 32 are connected with the central spray disk, and spray holes 33 are formed in the central spray disk 32 and the spray arms 32.
The number of the spray arms 32 is three or more, and the spray holes 33 on each spray arm 32 are distributed in a spiral line, so that the reaction force generated by spraying each spray hole to the cleaning surface can push the rotary nozzle assembly 10 to rotate at a high speed in the inner disc, and the cleaning surface can be quickly cleaned.
The nozzle hole 33 is provided with a nozzle tube with an adjustable angle, and the rotating speed of the rotary nozzle assembly 10 is adjusted by adjusting the angle of the nozzle tube.
The invention has the beneficial effects that:
the invention has reliable adsorption and large suction force, adopts the permanent magnet strong magnet as the first adsorption force, ensures that the robot body is adsorbed on the surface of the ship body through the reaction force generated by the rotor fan, and can adjust the magnitude of the reaction force by adjusting the rotating speed of the fan and the angle of the blade so as to realize accurate adsorption.
The invention adopts the ultrahigh-pressure water of more than 300MPA as the milling water for the surface of the ship body, is matched with the rotary spray frame with the cross structure, arranges spray holes on the spray frame according to a spiral line, realizes the quick rotation of the cross spray frame, and simultaneously realizes the adjustment of the rotating speed of the cross spray frame by using the high-pressure water by adjusting and locking the water outlet angle of the spray holes.
The invention has simple structure and convenient manufacture and assembly.
Drawings
Fig. 1 is a perspective exploded front view schematically showing the main structure of the robot of the present invention.
Fig. 2 is a perspective exploded rear view schematic diagram of the main structure of the robot of the present invention.
Fig. 3 is a perspective view of the cleaning rotating body assembly according to the present invention.
Fig. 4 is a sectional view of the internal structure of fig. 3.
Fig. 5 is a schematic bottom view of fig. 3.
FIG. 6 is a schematic perspective view of a robust disk of the present invention.
Fig. 7 is a bottom view of fig. 6.
In the figure: and 7 is a driving wheel locking nut, and 9 is a driving wheel spline.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-7.
A robot for cleaning steamship is disclosed, as shown in figure 1, it includes the body 17, the fore end of the said body 17 installs the eye 23 (as figure 7), install the vacuum pipe 2 linking with sewage suction pump and high-pressure water input pipe 21 linking with high-pressure water generator on the body 17, the output pressure of the high-pressure water generator is preferably above 300KPA, can purchase or customize from the market directly. Two sides of the front end of the shell 17 are respectively provided with a driving wheel 8 which is installed in a floating way, the driving wheel 8 is driven to rotate by a worm 5 which is installed in a floating support 15, the worm 5 is meshed with a worm wheel 4 which is installed in the floating support 15, the worm wheel 4 is driven by a servo motor 6 which is installed outside the floating support 15, the floating support 15 is positioned in a floating support installation seat 19 which is arranged in the shell 17 through a floating support shaft 16, as shown in figure 2, the floating support shaft 16 can limit the axial movement of the floating support 15 without limiting the up-and-down movement of the floating support, so that the driving wheel which is connected with the floating support can overcome the obstacle to perform deflection and lifting/descending movement on one side or two sides, and the driving wheel can flexibly rotate in a certain range, therefore, the invention can adapt to walking cleaning on various parts of a ship body and various curved surfaces, and realize operation without dead angles; install strong magnetic disk mount pad 20 at the rear portion of casing 17, install around strong magnetic disk mount pad 20 and be used for making whole robot and hull adsorb and prevent its strong magnetic disk 1 (shown in fig. 6, 7) that falls the hull, install three little directive wheel 3 around strong magnetic disk 1, little directive wheel 3 install on auxiliary stand 13 through round pin axle 13, auxiliary stand 13 passes through nut 18 to be fixed on auxiliary wheel mount pad 22 on strong magnetic disk mount pad 20 (as under the right side of fig. 1). The small steering wheel enables the strong magnetic disc to keep a set distance with the surface of the ship body to form a cleaning gap on one hand, and drives the whole robot to move along a set direction together with the driving wheel on the other hand; a cleaning rotating body assembly 11 is arranged at the center of the strong magnetic disc 1; the upper portion of casing 17 install the rotor fan 14 that can produce thrust so that the robot presses the one or more equipartitions of hull, rotor fan 14 the quantity be 4, they all install in corresponding cylindrical dryer. The rotor fan 14 generates thrust when acting on the water surface to press the robot body to the ship body, and can play the role of a paddle when acting under the water, so that the shell is pushed to the ship body to make up for the deficiency of the magnetic force of the strong magnetic disc. Specifically, the cleaning rotating body assembly 11 can be directly installed by order from the market, and can also be realized by adopting the same nozzle structure of the existing robot, but preferably, referring to the structure of fig. 3-5, as shown in fig. 4, the cleaning rotating body assembly 11 of this embodiment is composed of an inner disk 24, an outer disk 25 and a rotating nozzle 10, a silicone gasket is additionally installed between the inner disk 24 and the outer disk 25, the inner disk 24 is provided with an outer convex ring 26, the outer disk 24 is provided with an inner convex ring 27 (fig. 4), one end of a pressing plate 28 is fixed on the inner disk 24, the other end is connected with one end of a spring mounting shaft 29, a spring 30 is installed on the spring mounting shaft 29, one end of the spring 30 is abutted against the pressing plate 29, the other end is abutted against the outer disk 25, as shown in fig. 3, the end face of the outer disk 25 is provided with a brush tightly attached to the cleaning surface, and a circle of brush can block the leakage of the cleaned dirt, so that the vacuum tube 2 communicated with the inner disk can discharge the dirt into the dirt collecting device in time; the spring 30 brings the brush on the end face of the outer disc 25 into contact with the cleaning surface; the outer 26 and inner 27 collars cooperate to allow axial movement of the outer disc 25 relative to the inner disc 24; the inner disc 24 is fixedly installed in the housing 17, the inner disc 24 is provided with a high pressure water input pipe 21, and the end of the high pressure water input pipe 21 located in the inner disc 24 is provided with the rotary nozzle assembly 10. Likewise, the rotary nozzle assembly 10 may be purchased directly from the market or may be constructed in the same manner as existing robots. The invention adopts the structure shown in figure 5, which comprises a rotary joint, a central spray disk 31 and spray arms 32, wherein the rotary joint is connected with the output end of a high-pressure water input pipe 21, the central spray disk 31 is connected with the rotary joint, the spray arms 32 are connected with the central spray disk, and spray holes 33 are respectively arranged on the central spray disk 32 and the spray arms 32. The number of the spray arms 32 is three or more, and the spray holes 33 on each spray arm 32 are distributed in a spiral line, so that the reaction force generated by spraying each spray hole to the cleaning surface can push the rotary nozzle assembly 10 to rotate at a high speed in the inner disc, and the cleaning surface can be quickly cleaned. The nozzle hole 33 is provided with a nozzle with an adjustable angle, and the rotating speed of the rotary nozzle assembly 10 is adjusted by adjusting the angle of the nozzle.
In particular, the control system can also be used for reversing the rotor fan 14 so as to generate lift when the robot falls off the ship body, so that the robot can suspend like a helicopter or reduce the falling speed, and the robot is prevented from being broken.
Therefore, the invention has reliable adsorption and large suction force, the robot body is adsorbed on the surface of a ship body by using the reaction force generated by the rotor fan besides the strong magnetic disk made of the permanent magnetic strong magnetic block as the first adsorption force, and the magnitude of the reaction force can be adjusted by adjusting the rotating speed of the fan and the angle of the blade to realize accurate adsorption.
The invention adopts the ultrahigh-pressure water of more than 300MPA as the milling water for the surface of the ship body, is matched with the rotary spray frame with the cross structure, arranges spray holes on the spray frame according to a spiral line, realizes the quick rotation of the cross spray frame, and simultaneously realizes the adjustment of the rotating speed of the cross spray frame by using the high-pressure water by adjusting and locking the water outlet angle of the spray holes.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (8)
1. The utility model provides a ship cleaning robot, it includes casing (17), is equipped with vacuum tube (2) that link to each other with the soil pick-up pump on casing (17) and high-pressure water input pipe (21) that link to each other with high-pressure water generator, characterized by: two sides of the front end of the shell (17) are respectively provided with a driving wheel (8) which is installed in a floating mode, the driving wheels (8) are driven to rotate by a worm (5) installed in a floating support (15), the worm (5) is meshed with a worm wheel (4) installed in the floating support (15), the worm wheel (4) is driven by a motor (6) installed outside the floating support (15), the floating support (15) is positioned in a floating support installation seat (19) in the shell (17) through a floating support shaft (16), and the floating support shaft (16) can limit the axial movement of the floating support (15) without limiting the up-and-down movement of the floating support, so that the driving wheel connected with the floating support can overcome obstacles to perform deflection and lifting/descending movement on one side or two sides; a strong magnetic disk mounting seat (20) is mounted at the rear part of the shell (17), a strong magnetic disk (1) for enabling the whole robot to be adsorbed with a ship body to prevent the robot from falling off the ship body is mounted on the periphery of the strong magnetic disk mounting seat (20), a plurality of small steering wheels (3) are mounted on the periphery of the strong magnetic disk (1), on one hand, the small steering wheels enable the strong magnetic disk to keep a set distance with the surface of the ship body to form a cleaning gap, and on the other hand, the small steering wheels and driving wheels drive the whole robot to move along a set direction; a cleaning rotating body assembly (11) is arranged at the center of the strong magnetic disc (1); and one or more uniformly distributed rotor fans (14) capable of generating thrust to enable the robot to press the ship body are arranged at the upper part of the shell (17).
2. The ship cleaning robot as claimed in claim 1, wherein: the number of the rotor fans (14) is 4, and the rotor fans are all installed in corresponding cylindrical wind cylinders.
3. The ship cleaning robot as claimed in claim 1, wherein: the small steering wheel (3) is installed on the auxiliary support (13) through a pin shaft (13), and the auxiliary support (13) is fixed on an auxiliary wheel installation seat (22) on the strong magnetic disc installation seat (20) through a nut (18).
4. The ship cleaning robot as claimed in claim 1, wherein: the front end of the shell (17) is provided with a hanging ring (23).
5. The ship cleaning robot as claimed in claim 1, wherein: the cleaning rotating body assembly (11) is composed of an inner disc (24), an outer disc (25) and a rotating nozzle (10), a silica gel sealing gasket is additionally arranged between the inner disc (24) and the outer disc (25), the inner disc (24) is provided with an outer convex ring (26), the outer disc (24) is provided with an inner convex ring (27), one end of a pressing plate (28) is fixed on the inner disc (24), the other end of the pressing plate is connected with one end of a spring mounting shaft (29), a spring (30) is mounted on the spring mounting shaft (29), one end of the spring (30) is abutted against the pressing plate (29), the other end of the spring is abutted against the outer disc (25), a brush tightly attached to the cleaning surface is mounted on the end face of the outer disc (25), one circle of brushes can block the leakage of cleaned dirt, so that a vacuum tube (2) communicated with the inner disc can discharge the dirt into a collecting device in time; the spring (30) enables the brush on the end face of the outer disc (25) to be in contact with the cleaning surface; the outer convex ring (26) and the inner convex ring (27) are mutually matched to enable the outer disc (25) to axially move relative to the inner disc (24); the inner disc (24) is fixedly arranged in the shell (17), the inner disc (24) is provided with a high-pressure water input pipe (21), and one end of the high-pressure water input pipe (21) positioned in the inner disc (24) is provided with a rotary nozzle assembly (10).
6. The ship cleaning robot as claimed in claim 5, wherein: the rotary nozzle assembly (10) is composed of a rotary joint, a central spraying disc (31) and a spraying arm (32), the rotary joint is connected with the output end of the high-pressure water input pipe (21), the central spraying disc (31) is connected with the rotary joint, the spraying arm (32) is connected with the central spraying disc, and spraying holes (33) are formed in the central spraying disc (32) and the spraying arm (32).
7. The ship cleaning robot as claimed in claim 6, wherein: the number of the spray arms (32) is three or more, and the spray holes (33) on each spray arm (32) are distributed in a spiral line, so that the reaction force generated by spraying each spray hole to the cleaning surface can push the rotary nozzle assembly (10) to rotate at a high speed in the inner disc, and the cleaning surface can be quickly cleaned.
8. The ship cleaning robot as claimed in claim 6, wherein: the spray holes (33) are internally provided with angle-adjustable spray pipes, and the rotating speed of the rotary nozzle assembly (10) is adjusted by adjusting the angles of the spray pipes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210392774.8A CN114802529A (en) | 2022-04-15 | 2022-04-15 | Ship cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210392774.8A CN114802529A (en) | 2022-04-15 | 2022-04-15 | Ship cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114802529A true CN114802529A (en) | 2022-07-29 |
Family
ID=82537201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210392774.8A Pending CN114802529A (en) | 2022-04-15 | 2022-04-15 | Ship cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114802529A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140151A (en) * | 2017-05-10 | 2017-09-08 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
| CN110918528A (en) * | 2019-12-24 | 2020-03-27 | 中国水产科学研究院渔业机械仪器研究所 | Thrust adsorption net cage cleaning robot |
| CN112027015A (en) * | 2020-09-22 | 2020-12-04 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN112389559A (en) * | 2020-12-03 | 2021-02-23 | 沈阳仪表科学研究院有限公司 | Wall-climbing robot for cleaning ship |
| CN112589684A (en) * | 2020-12-16 | 2021-04-02 | 北京史河机器人科技有限公司 | Recovery disc rust removal robot |
| CN113042445A (en) * | 2021-04-09 | 2021-06-29 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
| CN215043238U (en) * | 2021-07-02 | 2021-12-07 | 深圳市机器时代科技有限公司 | Strong-adsorption wall-climbing robot |
| CN113798985A (en) * | 2021-10-13 | 2021-12-17 | 浙江澎湃智能装备有限公司 | Vacuum recovery type wall-climbing rust removal robot |
-
2022
- 2022-04-15 CN CN202210392774.8A patent/CN114802529A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140151A (en) * | 2017-05-10 | 2017-09-08 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
| CN110918528A (en) * | 2019-12-24 | 2020-03-27 | 中国水产科学研究院渔业机械仪器研究所 | Thrust adsorption net cage cleaning robot |
| CN112027015A (en) * | 2020-09-22 | 2020-12-04 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN112389559A (en) * | 2020-12-03 | 2021-02-23 | 沈阳仪表科学研究院有限公司 | Wall-climbing robot for cleaning ship |
| CN112589684A (en) * | 2020-12-16 | 2021-04-02 | 北京史河机器人科技有限公司 | Recovery disc rust removal robot |
| CN113042445A (en) * | 2021-04-09 | 2021-06-29 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
| CN215043238U (en) * | 2021-07-02 | 2021-12-07 | 深圳市机器时代科技有限公司 | Strong-adsorption wall-climbing robot |
| CN113798985A (en) * | 2021-10-13 | 2021-12-17 | 浙江澎湃智能装备有限公司 | Vacuum recovery type wall-climbing rust removal robot |
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