CN115180095B - Repairing device for ship surface renovation - Google Patents
Repairing device for ship surface renovation Download PDFInfo
- Publication number
- CN115180095B CN115180095B CN202211106611.5A CN202211106611A CN115180095B CN 115180095 B CN115180095 B CN 115180095B CN 202211106611 A CN202211106611 A CN 202211106611A CN 115180095 B CN115180095 B CN 115180095B
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- fixedly connected
- driving part
- paint
- vertical
- transmission
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- 238000009418 renovation Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 59
- 239000003973 paint Substances 0.000 claims description 62
- 238000007790 scraping Methods 0.000 claims description 24
- 238000005452 bending Methods 0.000 claims description 19
- 238000007599 discharging Methods 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 10
- 238000010438 heat treatment Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract description 7
- 238000003756 stirring Methods 0.000 abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 4
- 229910052742 iron Inorganic materials 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 239000002893 slag Substances 0.000 abstract description 2
- 239000004922 lacquer Substances 0.000 description 14
- 241000238586 Cirripedia Species 0.000 description 9
- 239000007921 spray Substances 0.000 description 8
- 230000002337 anti-port Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000003466 welding Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000007774 longterm Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000037452 priming Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000345998 Calamus manan Species 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 208000021760 high fever Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 235000012950 rattan cane Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
- B05D3/04—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases
- B05D3/0406—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by exposure to gases the gas being air
- B05D3/0413—Heating with air
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a repairing device for surface renovation of a ship body, which relates to the technical field of naval vessel maintenance and comprises a bearing seat and a driving part; the driving part is connected with the top of the bearing seat, a fixing frame is fixedly connected with the front side in the driving part, an electric push rod is fixedly connected with the top of the front end of the fixing frame, and a rear bin is arranged at the bottom of the rear end of the fixing frame in a rotating connection mode; through starting the biax motor, can make two sets of vertical axes carry out synchronous equidirectional rotation through chain drive, can make two sets of cranks of vertical axis bottom carry out synchronous rotation, can make it drive the gear frame and carry out oval orbit motion, can make two sets of gear frames of the rear warehouse left and right sides carry out opposite direction synchronous motion through the bevel gear transmission, can make two sets of outer brushes of dialling of gear frame bottom stir the brush to the piece that produces behind the hull surface friction and brush out to the left and right sides, the problem that traditional prosthetic devices was not convenient for clear away the back to the old coat of hull surface iron rust and carry out the clearance to the disintegrating slag that remains on hull surface has been solved.
Description
Technical Field
The invention relates to the technical field of naval vessel maintenance, in particular to a repairing device for ship surface renovation.
Background
Marine animals and plants such as barnacles can secretly attach to the hull bottom when naval vessels navigate and berth, increase naval vessels navigation resistance, reduce the navigational speed of naval vessels, in order to guarantee the navigational speed, the naval vessels can only increase power, increase fuel consumption, the navigation cost is also higher, can make the hull surface rust after the long-term ship primer is peeled off, need make the naval vessels dock again when restoreing, let the hull bottom expose completely after draining water, then use high-pressure squirt to erode, use the shovel directly to shovel off these marine animals and plants attached to the hull bottom, later mend the lacquer and also can consume a large amount of manpower and materials.
However, with regard to the existing hull surface repairing device, it is inconvenient to realize the collection of marine attachment removal, paint rust removal and paint repair functions to the hull surface, and the existing repairing device is inconvenient to clean up the residual slag on the hull surface after removing the rust and old paint skin on the hull surface, is inconvenient to paint on the next step, and is inconvenient to integrally repair the hull surface.
In view of the above, the present invention provides a repairing device for renovating a hull surface, which is developed and improved in view of the existing structure and defects, so as to achieve the purpose of higher practical value.
Disclosure of Invention
In view of the above, the present invention provides a repairing device for ship hull surface renovation, which can make a bevel gear C at the end of a rotating shaft of a double-shaft motor drive a bevel gear D to rotate by starting the double-shaft motor, and can make the bevel gear D drive a linkage gear coaxial with the bevel gear D to rotate, and can make two sets of vertical shafts synchronously rotate in the same direction by chain transmission, and can make two sets of cranks at the bottom of the vertical shafts synchronously rotate, and can make the cranks drive transmission frames to move in an elliptical track, and can make two sets of transmission frames at the left and right sides of a rear bin synchronously move in opposite directions by bevel gear transmission, so that two sets of outward-pulling brushes at the bottom of the transmission frames can pull out chips generated after friction on the surface of a ship hull to the left and right sides.
The invention provides a repairing device for ship surface renovation, which specifically comprises: a bearing seat and a driving part; the bottom of the bearing seat is provided with four groups of universal wheels through rotary connection, the rear side of the top of the bearing seat is provided with a telescopic handrail through sliding connection, and the top of the bearing seat is fixedly connected with a ship bottom paint box; the rear end of the ship primer box is fixedly connected with a remote control console, the top of the ship primer box is fixedly connected with a transmission pump, and the top of the transmission pump is fixedly connected with a connecting hose; the driving part is connected with the top of the bearing seat, and the left side and the right side in the driving part are fixedly connected with a triangular crawler belt; an electromagnetic chain is sleeved on the outer side of the triangular crawler belt, and an electromagnetic plate is fixedly connected inside the electromagnetic chain; the vertical surface of the outer side end of the electromagnetic chain is fixedly connected with an electric connecting piece; the vertical surface inside the driving part is fixedly connected with two groups of power connection transverse strips; a fixed frame is fixedly connected to the front side inside the driving part, and a vertical pipe is fixedly connected to the inside of the front side of the fixed frame; the top of the front end of the fixed frame is fixedly connected with an electric push rod; the bottom of the rear end of the fixed frame is rotatably connected with a rear bin; the rear end of the fixing frame is fixedly connected with a horizontal frame.
Optionally, the inside fixedly connected with battery of drive division, battery top fixedly connected with control cabinet, control cabinet top fixedly connected with wireless antenna, the drive division front end left and right sides fixedly connected with range finding sensor, range finding sensor quantity sets up to two groups.
Optionally, the bottom end of the telescopic part of the electric push rod is fixedly connected with a sleeve, the bottom of the sleeve is fixedly connected with a fixing spring, and the bottom end of the fixing spring is fixedly connected with a working cabin.
Optionally, the left side and the right side of the top of the work cabin are fixedly connected with vertical rods, the vertical rods are sleeved on the inner sides of the vertical pipes, limiting rods are arranged on the inner sides of the sleeves through sliding connection, and the bottom ends of the limiting rods are fixedly connected with the top surface of the work cabin.
Optionally, the work cabin left end fixedly connected with servo motor, the servo motor pivot right-hand member is provided with the transmission shaft through rotating the connection, and the inside left and right sides of transmission shaft is provided with bevel gear A through coaxial coupling, and two sets of bevel gear A are at transmission shaft internally mounted opposite direction.
Optionally, the bottom of the working cabin is provided with bevel gears B through rotating connection, the number of the bevel gears B is set to two, the bevel gears B are meshed with the bevel gears a, the bottom ends of the bevel gears B are provided with cutter sleeves a through coaxial connection, and paint scraping toothed plates are fixedly connected to the inner sides of the cutter sleeves a.
Optionally, a double-shaft motor is fixedly connected inside the rear bin, bevel gears C are coaxially connected to the left end and the right end of a rotating shaft of the double-shaft motor, vertical shafts are rotatably connected to the left side and the right side of the rear bin, two groups of vertical shafts are arranged on the left side and the right side of the rear bin respectively, linkage gears are coaxially connected inside the vertical shafts and are driven by chains, and bevel gears D are coaxially connected to the tops of two groups of vertical shafts located on the inner side of the rear bin.
Optionally, bevel gear D meshes with bevel gear C mutually, and the vertical axis bottom is provided with the crank through coaxial coupling, and the crank bottom is provided with the gear frame through rotating the connection, and the spacing groove has been seted up to both ends facade department around the gear frame, and the brush is dialled outward to gear frame bottom fixedly connected with, and the brush quantity of dialling outward sets up to two groups, and back storehouse front end fixedly connected with sliding sleeve, the sliding sleeve top is provided with the connecting rod through rotating the connection, and the connecting rod front end rotates with the cabin rear end to be connected.
Optionally, the sliding sleeve is connected through rotating to be provided with the supporting wheel, the sliding sleeve is inboard to be provided with the reciprocating lever through sliding connection, the outer face of reciprocating lever and supporting wheel rolling contact, reciprocating lever front end fixedly connected with knife pouch B, spacing bolt is worn to be equipped with by knife pouch B inboard, the inboard fixedly connected with bending knife of knife pouch B, bending knife is Z style of calligraphy structure, reciprocating lever rear end bottom is connected through rotating and is provided with the centre gripping wheel, centre gripping wheel and spacing inslot side facade rolling contact.
Optionally, horizontal bracket bottom front side fixedly connected with fender, horizontal bracket bottom fixedly connected with bellows, the inboard fixedly connected with fan of bellows, the inboard bottom fixedly connected with heating wire of bellows, horizontal bracket rear side fixedly connected with feed pump, feed pump top and coupling hose fixed connection, feed pump bottom fixedly connected with row's lacquer box, the inboard fixedly connected with spray pipe of row's lacquer box, row's lacquer box bottom outside has cup jointed the limit for width cover, row's lacquer box left and right sides fixedly connected with side pipe, the spring beam has been cup jointed to the side intraductal side, spring beam bottom and limit for width cover fixed connection, limit for width cover bottom is provided with the gyro wheel through rotating the connection.
Advantageous effects
1. Compared with the traditional repairing device, the repairing device provided by the embodiments of the invention has the advantages that a user can place the driving part on the surface of the ship body, two power connection pieces in contact with the driving part are powered through the two groups of positive and negative power connection cross bars, when the electromagnetic chain is driven to be above the crawler belt, the power connection pieces can be separated from the power connection cross bars, the electromagnetic chain can automatically eliminate magnetic force, external parts can be prevented from being sucked into the crawler belt chain to cause shell clamping, the electromagnetic chain which is horizontally arranged at the bottom of the triangular crawler belt can be powered, the horizontal chain at the bottom of the crawler belt can be always kept in magnetic adsorption with the ship body in the running process of the crawler belt, and the driving part can be stably attached to the surface of the ship body.
2. By arranging the paint scraping toothed plate, after the thickness of attachments on the surface of the ship body is detected by the distance measuring sensors on the two sides of the front end of the driving part, the electric push rod can be operated in a servo mode, the telescopic part of the electric push rod can drive the scraper at the bottom of the working cabin to move towards the surface of the ship body, the elastic support is realized through the fixed spring, the paint scraping toothed plate can be elastically attached to the surface of the ship body, the working cabin can rebound when the electric push rod contacts with a raised welding line, and the blocking of the operation of the device caused by the limit of the paint scraping toothed plate and the welding line can be prevented; through starting servo motor, can make its pivot drive transmission shaft rotate, can make inside two sets of bevel gear A of transmission shaft drive two sets of bevel gear B and carry out synchronous antiport, can make two sets of bevel gear B drive and carry out synchronous antiport rather than two sets of broach shells A of coaxial, can make two sets of lacquer pinion racks of scraping rotate the friction to the hull surface after the barnacle of shovel, can strike off hull surface iron rust and original paint, can make the hull surface form rough friction surface, be convenient for improve ship priming paint adhesive force after the japanning, drive through bevel gear B and scrape lacquer pinion rack antiport, it is spacing to prevent to take place the circular motion when rubbing two sets of lacquer pinion rack clearance departments.
3. By arranging the outer stirring brush, after the thickness of attachments on the surface of the ship body is detected by the distance measuring sensors on the two sides of the front end of the driving part, the electric push rod can be operated in a servo mode, the telescopic part of the electric push rod can drive the working cabin to move towards the surface of the ship body in a servo mode, the working cabin can be driven to deflect in a sliding sleeve angle mode through connecting rod transmission, the bending knife at the front end of the reciprocating rod can deflect in an angle mode, the cutting edge of the bending knife can be aligned with the contact surface of a barnacle and the surface of the ship body, the bevel gear C at the tail end of a rotating shaft can drive the bevel gear D to rotate by starting the double-shaft motor, the bevel gear D can drive the linkage gear coaxial with the bevel gear D to rotate, the two groups of vertical shafts can rotate synchronously in the same direction through chain transmission, the two groups of cranks at the bottoms of the vertical shafts can synchronously rotate, the transmission frames can drive the transmission frames to move in an elliptical track, the two groups of transmission frames on the left side and the right side of the rear cabin can synchronously move in opposite directions through the bevel gear transmission, and the outer stirring brush at the bottom of the two groups of the outer stirring brush on the left side and right side of the ship body after the surface friction, and right side of the ship body can stir chips; in the process of carrying out elliptic orbit motion on the transmission frame, the transmission frame can drive the reciprocating rod to carry out reciprocating translation front and back on the inner side of the sliding sleeve, and the bending knife at the front end of the reciprocating rod can carry out reciprocating shoveling on the barnacle attachment part at the front side of the driving part.
4. Through setting up the limit for width cover, through starting inside fan and the heating wire of bellows, can carry out the high fever blast air to the hull surface, can make hull surface rapid draing, can make it transmit the inside ship priming paint of coupling hose to the pipe department that sprays paint through starting the feed pump, can make the pipe that sprays paint spray paint to limit for width cover inner zone, can prescribe a limit for paint the region, can prevent to spray regional outside edge mutual overlap and cause the thickness of spraying paint uneven, drive limit for width cover to arrange paint box top elastic movement through the spring beam, can make the gyro wheel of limit for width cover bottom carry out elastic contact with the hull surface, when removing to unevenness's surface, can support to make limit for width cover slide in arranging the paint box outside through the gyro wheel, when removing to protruding, can prevent limit for width cover side friction damage hull paint surface, can prescribe a limit for width cover and the distance on surface when limit for width cover removes to the hull has the surface of radian, can prevent that limit for width cover and radian surface from producing spacingly, hinder the drive division to remove.
5. Through setting up spacing bolt, through disassembling spacing bolt after, will bend inside the sword rear side inserts knife pouch B, penetrate spacing bolt after making its circular through-hole align and fix, can carry out convenient the change to the sword of buckling of long-term friction.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
The drawings in the following description relate to some embodiments of the invention only and are not intended to limit the invention.
In the drawings:
fig. 1 shows a schematic view of a top perspective of the prosthetic device as a whole, according to an embodiment of the invention;
FIG. 2 shows an enlarged, partial schematic view of A of FIG. 1 according to an embodiment of the present invention;
FIG. 3 shows a schematic representation of the three-dimensional structure of an electromagnetic chain of a prosthetic device according to an embodiment of the invention;
FIG. 4 shows a schematic view of a bottom perspective of a rear compartment of a prosthetic device according to an embodiment of the invention;
FIG. 5 is an enlarged partial schematic view of B in FIG. 4 according to an embodiment of the present invention;
fig. 6 shows a schematic view of the three-dimensional structure of a fixed frame of the prosthetic device according to an embodiment of the invention;
fig. 7 shows a schematic view of a disassembled three-dimensional structure of a repair device sleeve B according to an embodiment of the present invention;
fig. 8 shows a schematic view of the front side three-dimensional structure of a working compartment of a prosthetic device according to an embodiment of the invention.
List of reference numerals
1. A bearing seat;
101. a telescopic handrail; 102. a ship bottom paint box; 103. a remote control console; 104. a transfer pump; 1041. a connecting hose;
2. a drive section;
201. a triangular crawler belt; 2011. an electromagnetic chain; 2012. connecting a power strip; 202. connecting a power cross bar; 203. a console; 2031. a wireless antenna; 204. a ranging sensor;
3. a fixing frame;
301. a vertical tube;
4. an electric push rod;
401. a sleeve; 402. a fixed spring; 403. a limiting rod; 404. a working cabin; 4041. a vertical rod; 405. a servo motor; 406. a drive shaft; 4061. a bevel gear A; 4062. a bevel gear B; 407. a knife sheath A; 4071. scraping a paint toothed plate;
5. a rear bin;
501. a dual-axis motor; 5011. a bevel gear C; 502. a vertical axis; 5021. a linkage gear; 5022. a bevel gear D; 503. a crank; 504. a transmission frame; 5041. a limiting groove; 505. an external poking brush; 506. a connecting rod; 507. a sliding sleeve; 5071. a support wheel; 508. a reciprocating lever; 5081. a knife sheath B; 5082. a limit bolt; 5083. a bending knife; 5084. a clamping wheel;
6. a horizontal frame;
601. a fender; 602. a blower box; 6021. an electric heating wire;
7. a feed pump;
701. arranging paint boxes; 7011. a paint spray pipe; 702. a side tube; 7021. a spring lever; 703. a width limiting cover; 7031. and a roller.
Detailed Description
In order to make the objects, aspects and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. Unless otherwise indicated, terms used herein have the ordinary meaning in the art. Like reference symbols in the various drawings indicate like elements.
The first embodiment is as follows: please refer to fig. 1 to 8:
the invention provides a repairing device for ship hull surface renovation, comprising: a bearing seat 1 and a driving part 2; the bottom of the bearing seat 1 is provided with four groups of universal wheels through rotary connection, the rear side of the top of the bearing seat 1 is provided with a telescopic handrail 101 through sliding connection, and the top of the bearing seat 1 is fixedly connected with a ship bottom paint box 102; the rear end of the ship bottom paint box 102 is fixedly connected with a remote control station 103, the top of the ship bottom paint box 102 is fixedly connected with a transmission pump 104, and the top of the transmission pump 104 is fixedly connected with a connecting hose 1041; the driving part 2 is connected with the top of the bearing seat 1, and the left side and the right side inside the driving part 2 are fixedly connected with a triangular crawler 201; an electromagnetic chain 2011 is sleeved on the outer side of the triangular crawler 201, and an electromagnetic plate is fixedly connected inside the electromagnetic chain 2011; the vertical face of the outer side end of the electromagnetic chain 2011 is fixedly connected with an electric connecting piece 2012; the vertical surface inside the driving part 2 is fixedly connected with electric connection transverse bars 202, and the number of the electric connection transverse bars 202 is two; a fixed frame 3 is fixedly connected with the front side inside the driving part 2, and a vertical pipe 301 is fixedly connected with the inside of the front side of the fixed frame 3; the top of the front end of the fixed frame 3 is fixedly connected with an electric push rod 4; the bottom of the rear end of the fixed frame 3 is rotatably connected with a rear bin 5; the rear end of the fixing frame 3 is fixedly connected with a horizontal frame 6, the inner side of the driving part 2 is fixedly connected with a storage battery, the top of the storage battery is fixedly connected with a control console 203, the top of the control console 203 is fixedly connected with a wireless antenna 2031, the left side and the right side of the front end of the driving part 2 are fixedly connected with distance measuring sensors 204, the number of the distance measuring sensors 204 is two, a user can place the driving part 2 on the surface of a ship body, two power connection pieces 2012 in contact with the driving part can be supplied with power through two sets of positive and negative power connection crossbars 202, when the electromagnetic chains 2011 are transmitted to the upper part of the crawler belt, the power connection pieces 2012 can be separated from the contact with the power connection crossbars 202, the magnetic force can be automatically eliminated, external parts can be prevented from being sucked into the crawler belt chains to cause jamming, the electromagnetic chains 2011 in horizontal arrangement at the bottom of the triangular crawler belt 201 can be supplied with power, the horizontal chains can be enabled to be always kept to be adsorbed with the magnetic force of the ship body in the operation process of the ship body, the driving part 2 can be stably attached to the surface, the ship body, the driving part 2 can be repaired by holding the telescopic handrail 101 below to push the driving part 1042 to move, by starting the transmission pump 104, and the flexible hose.
As shown in fig. 3 to 8, a sleeve 401 is fixedly connected to the bottom end of the telescopic portion of the electric push rod 4, a fixed spring 402 is fixedly connected to the bottom end of the sleeve 401, a working chamber 404 is fixedly connected to the bottom end of the fixed spring 402, vertical rods 4041 are fixedly connected to the left and right sides of the top of the working chamber 404, the vertical rods 4041 are sleeved inside the vertical pipe 301, a stop lever 403 is arranged inside the sleeve 401 through a sliding connection, the bottom end of the stop lever 403 is fixedly connected to the top surface of the working chamber 404, a servo motor 405 is fixedly connected to the left end of the working chamber 404, a transmission shaft 406 is arranged at the right end of the rotating shaft of the servo motor 405 through a rotating connection, bevel gears a4061 are arranged on the left and right sides inside the transmission shaft 406 through a coaxial connection, the directions of the two sets of bevel gears a4061 are opposite, bevel gears B4062 are arranged at the bottom of the working chamber 404 through a rotating connection, and the number of the bevel gears B4062 is two sets, bevel gear B4062 meshes with bevel gear A4061 mutually, bevel gear B4062 bottom is provided with cutter cover A407 through coaxial connection, cutter cover A407 quantity sets up to two groups, two groups of cutter cover A407 horizontal angle difference is ninety degrees, cutter cover A407 inboard fixedly connected with scrapes lacquer toothed plate 4071, after measuring to hull surface attachment thickness through range sensor 204 of drive division 2 front end both sides, can make electric putter 4 servo operation, can make its pars contractilis drive the scraper of work cabin 404 bottom to the hull surface removal, through the elastic support of fixed spring 402, can make scrape lacquer toothed plate 4071 and carry out the elastic attachment to the hull surface, can make the work cabin 404 kick-back when it contacts bellied welding seam, can prevent to produce the device operation that spacing caused by scraping lacquer toothed plate 4071 and welding seam and block; through starting servo motor 405, can make its pivot drive transmission shaft 406 rotate, can make two sets of bevel gear A4061 of transmission shaft 406 inside drive two sets of bevel gear B4062 and carry out synchronous antiport, can make two sets of bevel gear B4062 drive rather than two sets of knife pouch A407 of coaxial and carry out synchronous antiport, can make two sets of lacquer pinion rack 4071 of scraping carry out the running friction to the hull surface after shoveling the rattan, can strike off hull surface rust and original paint, can make the hull surface form coarse friction surface, be convenient for improve ship primer adhesive force after the japanning, drive through bevel gear B4062 and scrape lacquer pinion rack 4071 antiport, it is spacing to take place the circular motion when can preventing to scrape lacquer pinion rack 4071 clearance department to two sets of.
As shown in fig. 1 to 8, a double-shaft motor 501 is fixedly connected inside a rear bin 5, bevel gears C5011 are coaxially connected to the left and right ends of a rotating shaft of the double-shaft motor 501, vertical shafts 502 are rotatably connected to the left and right sides of the rear bin 5, two sets of vertical shafts 502 are respectively arranged on the left and right sides of the rear bin 5, linkage gears 5021 are coaxially connected to the inside of the vertical shafts 502, the linkage gears 5021 are driven by chains, bevel gears D5022 are coaxially connected to the tops of the two sets of vertical shafts 502 located inside the rear bin 5, the bevel gears D5022 are engaged with the bevel gears C5011, a crank 503 is coaxially connected to the bottom end of the vertical shafts 502, a transmission frame 504 is rotatably connected to the bottom of the crank 503, vertical face limiting grooves 5041 are formed in the front and rear ends of the transmission frame 504, outer brushes 505 are arranged in two sets, a sliding sleeve 507 is fixedly connected to the front end of the rear bin 5, the top of the sliding sleeve 507 is provided with a connecting rod 506 through rotary connection, the front end of the connecting rod 506 is rotatably connected with the rear end of the working cabin 404, after the thickness of attachments on the surface of the ship body is detected through the distance measuring sensors 204 on the two sides of the front end of the driving part 2, the electric push rod 4 can be operated in a servo mode, the telescopic part of the electric push rod can drive the working cabin 404 to move towards the surface of the ship body in a servo mode, the sliding sleeve 507 can be driven to deflect in an angle when the working cabin 404 is displaced through the transmission of the connecting rod 506, the bending knife 5083 at the front end of the reciprocating rod 508 can deflect in an angle, the knife edge of the bending knife 5083 can be aligned with the contact surface of the barnacle and the surface of the ship body, the bevel gear C5011 at the tail end of the rotating shaft can be driven to rotate by the double-shaft motor 501, the bevel gear D5022 can be driven to rotate with the linkage gear 5021 which is coaxial with the bevel gear, and the two groups of vertical shafts 502 can synchronously rotate in the same direction through chain transmission, the two groups of cranks 503 at the bottom of the vertical shaft 502 can synchronously rotate to drive the transmission frames 504 to move in an elliptical orbit, the two groups of transmission frames 504 at the left side and the right side of the rear bin 5 can synchronously move in opposite directions through bevel gear transmission, and chips generated after the surfaces of the ship bodies are rubbed by the two groups of external stirring brushes 505 at the bottom of the transmission frames 504 can be stirred and brushed out towards the left side and the right side; in the process of the elliptic motion of the transmission frame 504, the transmission frame can drive the reciprocating rod 508 to perform reciprocating translation back and forth inside the sliding sleeve 507, and the bending knife 5083 at the front end of the reciprocating rod 508 can perform reciprocating shoveling on the barnacle attachment part at the front side of the driving part 2.
As shown in fig. 1 to 7, a support wheel 5071 is rotatably connected to the inner side of the sliding sleeve 507, a reciprocating rod 508 is slidably connected to the inner side of the sliding sleeve 507, the outer surface of the reciprocating rod 508 is in rolling contact with the support wheel 5071, a knife sleeve B5081 is fixedly connected to the front end of the reciprocating rod 508, a limit bolt 5082 is inserted into the inner side of the knife sleeve B5081, a bending knife 5083 is fixedly connected to the inner side of the knife sleeve B5081, the bending knife 5083 is in a Z-shaped structure, the edge of the bending knife 5083 is in a sawtooth structure, a circular through hole is formed in the rear side of the bending knife 5083, a clamping wheel 5084 is rotatably connected to the rear end bottom of the reciprocating rod 508, the clamping wheel 5084 is in rolling contact with the inner vertical surface of the limit groove 5041, the rear side of the bending knife 5083 is inserted into the knife sleeve B5081 after the limit bolt 5082 is disassembled, the circular through hole is aligned, the limit bolt 5082 is bent and fixed, and the knife 5083 subjected to long-term friction can be conveniently replaced.
As shown in fig. 2 to 8, a fender 601 is fixedly connected to the front side of the bottom of the horizontal frame 6, a blast box 602 is fixedly connected to the bottom of the horizontal frame 6, a fan is fixedly connected to the inner side of the blast box 602, heating wires 6021 are fixedly connected to the bottom of the inner side of the blast box 602, a feeding pump 7 is fixedly connected to the rear side of the horizontal frame 6, the top of the feeding pump 7 is fixedly connected to a connection hose 1041, a paint discharging box 701 is fixedly connected to the bottom of the feeding pump 7, a paint spraying pipe 7011 is fixedly connected to the inner side of the paint discharging box 701, a width limiting cover 703 is sleeved on the outer side of the bottom of the paint discharging box 701, side pipes 702 are fixedly connected to the left and right sides of the paint discharging box 701, a spring bar 7021 is sleeved on the inner side of the side pipe 702, the bottom of the spring bar 7021 is fixedly connected to the width limiting cover 703, rollers 7031 are rotatably connected to the bottom 703 of the width limiting cover, and by activating the fan and the heating wires 6021 inside the blast box 602, the hull surface can be heated and dry rapidly, the ship primer in the connecting hose 1041 can be transmitted to the paint spraying pipe 7011 by starting the feeding pump 7, the paint spraying pipe 7011 can spray paint to the area in the width limiting cover 703, the paint area can be limited, the uneven paint thickness caused by the mutual overlapping of the outer edges of the spraying area can be prevented, the width limiting cover 703 is driven to elastically move towards the top of the paint discharging box 701 by the spring rod 7021, the roller 7031 at the bottom of the width limiting cover 703 can be in elastic contact with the surface of the ship body, when the width limiting cover is moved to the uneven surface, the width limiting cover 703 can be supported by the roller 7031 to slide outside the paint discharging box 701, when the width limiting cover is moved to the projection, the side end of the width limiting cover 703 can be prevented from rubbing to damage the paint surface of the ship body, the distance between the width limiting cover 703 and the surface can be limited when the width limiting cover 703 is moved to the surface with radian, and the radian between the width limiting cover 703 and the surface can be prevented from generating limitation, the driving part 2 is hindered from moving.
The ranging sensor 204 (model TF 350) mentioned in the embodiments of the present invention may be obtained through private subscription or market purchase.
The specific use mode and function of the embodiment are as follows: in the invention, when the device is used, a user can place the driving part 2 on the surface of a ship body, two rows of electric connecting pieces 2012 in contact with the driving part can be supplied with power through two groups of positive and negative electric connecting cross bars 202, when an electromagnetic chain 2011 is transmitted to the upper part of a track, the electric connecting pieces 2012 can be separated from the contact with the electric connecting cross bars 202, the magnetic force can be automatically eliminated, external parts can be prevented from being sucked into the track chain to cause clamping, the horizontally arranged electromagnetic chains 2011 positioned at the bottom of the triangular track 201 can be supplied with power, the horizontal chain at the bottommost part can be always kept in magnetic adsorption with the ship body in the running process of the track, the driving part 2 can be stably attached to the surface of the ship body, the user can drive the electric push rod 4 to run by holding the telescopic handrail 101 below the ship body to push the receiving seat 1 to move along with the driving part 2, the transmission of paint can be carried out through the connecting hose 1041, the thickness of attachment on the surface of the driving part 2 can be detected through the distance measuring sensors 204 at two sides at the front end of the driving part 2, the telescopic part can drive the telescopic part to drive the welding seam 40404 to move towards the fixed surface of the fixed scraper, the elastic scraper to prevent the elastic scraping plate from being attached to cause the elastic connection of the elastic scraping plate 71, and the elastic scraping plate of the elastic scraping cabin, the elastic scraping plate can be prevented from generating a convex part 71 when the elastic scraping plate to generate the elastic scraping plate to stop the elastic scraping plate 71, and the elastic scraping plate when the elastic scraping plate of the elastic scraping cabin, the elastic scraping plate 71; by starting the servo motor 405, the rotating shaft can drive the transmission shaft 406 to rotate, two groups of bevel gears a4061 in the transmission shaft 406 can drive two groups of bevel gears B4062 to synchronously rotate in opposite directions, two groups of bevel gears B4062 can drive two groups of cutter sleeves a407 coaxial with the bevel gears to synchronously rotate in opposite directions, two groups of paint scraping toothed plates 4071 can carry out rotary friction on the surface of the ship body after the barnacles are removed, rust and original paint on the surface of the ship body can be scraped, a rough friction surface can be formed on the surface of the ship body, adhesion of ship primer can be improved after painting, the bevel gears B4062 can drive the paint scraping toothed plates 4071 to reversely rotate, circular motion limitation can be prevented when the gap between the two groups of paint scraping toothed plates 4071 is rubbed, and the electric push rod 4 can be operated after the thickness of attachments on the surface of the ship body is detected by the distance measuring sensors 204 on both sides of the front end of the driving part 2, the telescopic part can drive the working cabin 404 to move towards the surface of the ship body for servo approaching, the connecting rod 506 can drive the sliding sleeve 507 to deflect when the working cabin 404 moves, the bending knife 5083 at the front end of the reciprocating rod 508 can deflect angularly, the knife edge of the bending knife 5083 can be aligned with the contact surface of the barnacle and the surface of the ship body, the bevel gear C5011 at the tail end of the rotating shaft can drive the bevel gear D5022 to rotate by starting the double-shaft motor 501, the bevel gear D5022 can drive the linkage gear 5021 coaxial with the bevel gear D5022 to rotate, the two groups of vertical shafts 502 can synchronously rotate in the same direction by chain transmission, the two groups of cranks 503 at the bottom of the vertical shafts 502 can synchronously rotate, the two groups of transmission frames 504 can drive the transmission frames 504 to move in an elliptical orbit, and the two groups of transmission frames 504 at the left side and the right side of the rear cabin 5 can synchronously move in the opposite direction by the bevel gear transmission, the scraps generated after the two groups of outer poking brushes 505 at the bottom of the transmission frame 504 rub the surface of the ship body can be poked and brushed out towards the left side and the right side; in the process of carrying out elliptic orbit motion on the transmission frame 504, the transmission frame can drive the reciprocating rod 508 to carry out reciprocating translation back and forth on the inner side of the sliding sleeve 507, the bending knife 5083 at the front end of the reciprocating rod 508 can carry out reciprocating shoveling on a barnacle attachment part at the front side of the driving part 2, the surface of the ship body can be subjected to high-temperature blast by starting the fan and the heating wires 6021 in the blast box 602, the surface of the ship body can be quickly dried, ship primer in the connecting hose 1041 can be transmitted to the paint spraying pipe 7011 by starting the feeding pump 7, the paint spraying pipe 7011 can spray paint on an area in the width limiting cover 703, a paint area can be limited, the phenomenon that the paint spraying thickness is uneven due to mutual overlapping of the outer edges of the spraying area can be prevented, the width limiting cover 703 can be driven to elastically move towards the top of the paint discharging box 701 by the spring rod 7021, when the ship body moves to the uneven surface, the width limiting cover 703 can slide outside the paint discharging box 701 by being supported by the roller 7031, when the ship body moves to the uneven surface, the distance between the width limiting cover and the radian of the driving surface can be prevented, and the ship body 703 can be prevented, and the distance between the width limiting surface can be integrally generated when the radian is prevented, and the ship body 703, and the ship body is prevented, and the ship body 703 can be prevented, and the distance between the ship body is prevented, and the ship body.
Finally, it should be noted that, when describing the positions of the components and the matching relationship therebetween, the present invention is usually illustrated by one/a pair of components, however, it should be understood by those skilled in the art that such positions, matching relationship, etc. are also applicable to other/other pairs of components. The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.
Claims (3)
1. A restoration device for ship hull surface renovation is characterized by comprising a bearing seat (1) and a driving part (2); the bottom of the bearing seat (1) is provided with four groups of universal wheels through rotary connection, the rear side of the top of the bearing seat (1) is provided with a telescopic handrail (101) through sliding connection, and the top of the bearing seat (1) is fixedly connected with a ship bottom paint box (102);
the rear end of the ship bottom paint box (102) is fixedly connected with a remote control console (103), the top of the ship bottom paint box (102) is fixedly connected with a transmission pump (104), and the top of the transmission pump (104) is fixedly connected with a connecting hose (1041); the driving part (2) is connected and arranged at the top of the bearing seat (1), and the left side and the right side inside the driving part (2) are fixedly connected with a triangular crawler belt (201);
an electromagnetic chain (2011) is sleeved on the outer side of the triangular crawler (201), and an electromagnetic plate is fixedly connected inside the electromagnetic chain (2011); an electric connecting piece (2012) is fixedly connected to the vertical surface of the outer side end of the electromagnetic chain (2011);
the vertical surface of the inner side of the driving part (2) is fixedly connected with electric connecting transverse strips (202), and the number of the electric connecting transverse strips (202) is two; a fixed frame (3) is fixedly connected to the front side inside the driving part (2), and a vertical pipe (301) is fixedly connected to the inside of the front side of the fixed frame (3);
the top of the front end of the fixed frame (3) is fixedly connected with an electric push rod (4); the bottom of the rear end of the fixed frame (3) is rotatably connected with a rear bin (5); the rear end of the fixed frame (3) is fixedly connected with a horizontal frame (6);
the bottom end of the telescopic part of the electric push rod (4) is fixedly connected with a sleeve (401), the bottom of the sleeve (401) is fixedly connected with a fixed spring (402), and the bottom end of the fixed spring (402) is fixedly connected with a working cabin (404);
the left side and the right side of the top of the working cabin (404) are fixedly connected with vertical rods (4041), the vertical rods (4041) are sleeved on the inner side of the vertical pipe (301), the inner side of the sleeve (401) is provided with a limiting rod (403) through sliding connection, and the bottom end of the limiting rod (403) is fixedly connected with the top surface of the working cabin (404);
the left end of the working cabin (404) is fixedly connected with a servo motor (405), the right end of a rotating shaft of the servo motor (405) is provided with a transmission shaft (406) in a rotating connection mode, the left side and the right side of the inside of the transmission shaft (406) are provided with bevel gears A (4061) in a coaxial connection mode, and the installation directions of the two groups of bevel gears A (4061) in the transmission shaft (406) are opposite;
the bottom of the working cabin (404) is provided with bevel gears B (4062) in a rotating connection mode, the number of the bevel gears B (4062) is two, the bevel gears B (4062) are meshed with the bevel gear A (4061), the bottom ends of the bevel gears B (4062) are provided with cutter sleeves A (407) in a coaxial connection mode, and the inner sides of the cutter sleeves A (407) are fixedly connected with paint scraping toothed plates (4071);
a double-shaft motor (501) is fixedly connected inside the rear bin (5), bevel gears C (5011) are coaxially connected to the left and right ends of a rotating shaft of the double-shaft motor (501), vertical shafts (502) are respectively arranged on the left and right sides of the rear bin (5) in a rotating connection mode, two groups of vertical shafts (502) are respectively arranged on the left and right sides of the rear bin (5), linkage gears (5021) are arranged inside the vertical shafts (502) in a coaxial connection mode, the linkage gears (5021) are in transmission through chains, and bevel gears D (5022) are coaxially connected to the tops of the two groups of vertical shafts (502) located on the inner side of the rear bin (5);
the bevel gear D (5022) is meshed with the bevel gear C (5011), the bottom end of the vertical shaft (502) is provided with a crank (503) through coaxial connection, the bottom of the crank (503) is provided with a transmission frame (504) through rotary connection, the front and rear end vertical faces of the transmission frame (504) are provided with limit grooves (5041), the bottom end of the transmission frame (504) is fixedly connected with outer poking brushes (505), the number of the outer poking brushes (505) is two, the front end of the rear bin (5) is fixedly connected with a sliding sleeve (507), the top of the sliding sleeve (507) is provided with a connecting rod (506) through rotary connection, and the front end of the connecting rod (506) is rotatably connected with the rear end of the working bin (404);
sliding sleeve (507) inboard is provided with supporting wheel (5071) through rotating the connection, sliding sleeve (507) inboard is provided with reciprocating lever (508) through sliding connection, reciprocating lever (508) outer face and supporting wheel (5071) rolling contact, reciprocating lever (508) front end fixedly connected with knife pouch B (5081), spacing bolt (5082) are worn to be equipped with by knife pouch B (5081) inboard, knife pouch B (5081) inboard fixedly connected with bending knife (5083), bending knife (5083) are Z style of calligraphy structure, reciprocating lever (508) rear end bottom is provided with centre gripping wheel (5084) through rotating the connection, centre gripping wheel (5084) and spacing groove (5041) inboard facade rolling contact.
2. The repairing device for ship hull resurfacing according to claim 1, characterized in that a storage battery is fixedly connected to the inner side of the driving part (2), a console (203) is fixedly connected to the top of the storage battery, a wireless antenna (2031) is fixedly connected to the top of the console (203), distance measuring sensors (204) are fixedly connected to the left and right sides of the front end of the driving part (2), and the number of the distance measuring sensors (204) is set as two.
3. The repairing device for ship hull surface renovation according to claim 1, characterized in that a mudguard (601) is fixedly connected to the front side of the bottom of the horizontal frame (6), a blast box (602) is fixedly connected to the bottom of the horizontal frame (6), a fan is fixedly connected to the inner side of the blast box (602), heating wires (6021) are fixedly connected to the bottom of the inner side of the blast box (602), a feeding pump (7) is fixedly connected to the rear side of the horizontal frame (6), the top of the feeding pump (7) is fixedly connected to a connecting hose (1041), a paint discharging box (701) is fixedly connected to the bottom of the feeding pump (7), a paint spraying pipe (7011) is fixedly connected to the inner side of the paint discharging box (701), a width limiting cover (703) is sleeved to the outer side of the bottom of the paint discharging box (701), side pipes (702) are fixedly connected to the left and right sides of the paint discharging box (701), a spring rod (7021) is sleeved to the inner side of the spring rod (7021), and a roller (7031) is arranged at the bottom of the width limiting cover (703) through a rotating connection.
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| JP2021166986A (en) * | 2020-04-10 | 2021-10-21 | 衢州柯城幕布電子有限公司 | High-efficient insulation paint repair device |
| CN114670990A (en) * | 2022-04-13 | 2022-06-28 | 滨州学院 | Ship hull repairing robot |
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| CN206122002U (en) * | 2016-10-21 | 2017-04-26 | 大连理工大学 | Hull planking sprays paint and climbs wall car device |
| US11097814B2 (en) * | 2016-12-28 | 2021-08-24 | Hangzhou Great Star Industrial Co., Ltd. | Water surface cleaning machine |
| CN207154030U (en) * | 2017-06-18 | 2018-03-30 | 中国船舶重工集团公司第七一六研究所 | Ship paint-spray robot work system |
| JP6788552B2 (en) * | 2017-06-30 | 2020-11-25 | 三ツ星ベルト株式会社 | Masking jig for painting, its removal jig, and its set |
| CN109204598A (en) * | 2018-08-07 | 2019-01-15 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of climbing robot electromagnetism pedrail mechanism |
| US20200385094A1 (en) * | 2019-06-05 | 2020-12-10 | Curtis Wayne Brown | Boat Lift |
| CN114472410A (en) * | 2020-10-23 | 2022-05-13 | 天津市伟铭精密机械制造有限公司 | High-pressure water ship and large-scale storage tank wall climbing varnish rust removal robot system |
| CN114735162B (en) * | 2022-04-13 | 2023-07-25 | 滨州学院 | Automatic repairing method for bottom surface of ship |
| CN114871579B (en) * | 2022-07-06 | 2022-09-23 | 艾芦精密机械(江苏)有限公司 | Automatic welding device based on transformer housing processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2021166986A (en) * | 2020-04-10 | 2021-10-21 | 衢州柯城幕布電子有限公司 | High-efficient insulation paint repair device |
| CN114670990A (en) * | 2022-04-13 | 2022-06-28 | 滨州学院 | Ship hull repairing robot |
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