CN203266627U - Surface maintaining robot - Google Patents
Surface maintaining robot Download PDFInfo
- Publication number
- CN203266627U CN203266627U CN 201320232245 CN201320232245U CN203266627U CN 203266627 U CN203266627 U CN 203266627U CN 201320232245 CN201320232245 CN 201320232245 CN 201320232245 U CN201320232245 U CN 201320232245U CN 203266627 U CN203266627 U CN 203266627U
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- vehicle frame
- robot
- surface maintenance
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- Expired - Fee Related
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Abstract
A surface maintaining robot comprises a vehicle frame and wheels installed on the vehicle frame, a control device and a drive motor used for driving the wheels are installed on the vehicle frame, a rotatable camera is installed at the front of the vehicle frame, an auxiliary wheel balancing device is installed in the middle of the vehicle frame, and a wiring board is installed at the rear of the vehicle frame. A power interface, a mechanical arm installing opening and a remote control signal interface are formed in the wiring board, and a mechanical arm used for operation is installed on the mechanical arm installing opening, and a control motor used for controlling the mechanical arm is installed at the bottom of the vehicle frame. The surface maintaining robot can be adsorbed on the surface of a ship, and the mechanical arm is used for carrying out kinds of maintaining operation such as clean, decontamination, rust removal and paint repair on the ship in the sailing process of the ship. Therefore, the ship does not need to dock in a port, a great deal of cost including berthage, dockage and the like is saved, a great deal of time is saved, and shipping cost is reduced.
Description
Technical field
The utility model relates to a kind of device that carries out surface maintenance at fe-based surface, specifically, is the surface maintenance robot of the operations such as a kind of cleaning that can be used for the surfaces externally and internallies such as storage tank, boats and ships, rust cleaning, repairing.
Background technology
The cleaning of boats and ships ship side, scrubbing, rust cleaning, touch-up paint etc., it is all the operation that the boats and ships maintenance must be carried out, carry out at present boats and ships maintenance operation, boats and ships can only be stopped docking, then maintain operation, not only need to consume the long time, and maintain more expenses such as needing the cost dockage, cost is high.Due to present world regulation, boats and ships can not be with dirty another marine site of taking to that in navigation, hull adheres in a certain marine site, before entering another marine site, boats and ships must carry out the maintenance operations such as the scrubbing of hull, make boats and ships must revise the course line, partway after the harbour berths, just can carry out the hull scrubbing, increase distance to go, consume the more time, enter midway that the harbour more needs to spend a large amount of berthage, increased the cost of shipping.
The utility model content
The utility model for present boats and ships maintenance can only carry out after boats and ships berth, and need to consume a large amount of expenses, increase the distance to go in shipping, consume the more time, increase the problems such as shipping cost, designed a kind of surface maintenance robot.
surface maintenance of the present utility model robot, comprise vehicle frame and the wheel that is arranged on vehicle frame, control device is installed on vehicle frame and be used for drives the drive motors of wheel, control device is connected with drive motors, be provided with processor in control device and be used for receiving and dispatching the signal receiver of remote signal, the vehicle frame front portion is equipped with rotating camera, camera is electrically connected to control device, be provided with microphone and illuminating lamp on camera, the vehicle frame middle part is equipped with the auxiliary wheel bascule, the vehicle frame rear portion is equipped with terminal plate, be provided with power interface on terminal plate, the manipulator installing port, the remote signal interface, power interface all is connected with control device with the remote signal interface, be equipped with on the manipulator installing port be used to the manipulator that carries out operation, bottom of frame is equipped with for the control motor of controlling manipulator.
Preferably, described wheel comprises the first front-wheel and the second front-wheel that the vehicle frame front portion is installed, the first trailing wheel and second trailing wheel at vehicle frame rear portion is installed, the first front-wheel and the first trailing wheel are positioned at the same side of vehicle frame, the first front-wheel is positioned at the place ahead of the second front-wheel, the first trailing wheel is positioned at the place ahead of the second trailing wheel, sprocket wheel all is installed on wheel, and the sprocket wheel that is positioned on two wheels of vehicle frame the same side is connected by chain.
Preferably, the auxiliary wheel bascule comprises and is vertically mounted on vehicle frame and the steer motor that is connected with control device, the auxiliary wheel device that is arranged on vehicle frame below and is connected with the main shaft of steer motor, and the auxiliary wheel bascule is arranged on the intersection point of wheel intersection line.
Preferably, described wheel is the magnetic force wheel, and the magnetic force wheel comprises the magnet of colyliform and minute magnet-wheel of being made by high-carbon steel, and a minute magnet-wheel is provided with two, and magnet is arranged between two minutes magnet-wheels.
Preferably, a plurality of blades vertical with wheel face are installed on the wheel face of wheel.
Preferably, in the manipulator installing port, rotating shaft is installed, rotating shaft is connected with the main shaft of controlling motor by Hooks coupling universal coupling.
Preferably, described manipulator comprises grinding machine hand and spray coating mechanical hand.
Preferably, described grinding machine hand comprises arm, the holder of hollow, power transmission shaft is installed in arm, the outer end of power transmission shaft is fixedly connected with holder, the coaxial connection of rotating shaft in the inner of power transmission shaft and manipulator installing port, the polishing motor is installed on holder, on the main shaft of polishing motor, grinding wheel is installed.
Preferably, described grinding wheel is emery wheel or the wire wheel made by steel wire.
Preferably, described spray coating mechanical hand comprises arm, the holder of hollow, power transmission shaft is installed in arm and is coated with material conveying tube, the outer end of power transmission shaft is fixedly connected with holder, the coaxial connection of rotating shaft in the inner of power transmission shaft and manipulator installing port, air pump and the shower nozzle that is connected with air pump are installed on holder, and air pump is connected with the feeding mechanism that coating is provided by being coated with material conveying tube.
The beneficial effects of the utility model are: the surface maintenance robot can be by the wheel with magnetic force, be adsorbed on the surface of boats and ships, utilize manipulator, in the process of ship's navigation, boats and ships are carried out the upkeep operations such as various cleanings, scrubbing, rust cleaning, touch-up paint, make boats and ships need not stop the harbour, a large amount of expenses such as berthage, dockage have been saved, and make boats and ships need not save the plenty of time because maintaining more re-routing of operation in oceangoing voyage, reduced the shipping cost.Wheel is magnet and is comprised of minute magnet-wheel that high-carbon steel is made, increased the magnetic of wheel, improved robot absorption affinity from the teeth outwards, wheel is not symmetrically arranged, guaranteed that robot still can turn under stronger magnetic force, robot can be crawled on vertical operating surface from horizontal plane.When robot carries out the cleaning of edge, a wheel can be unsettled, the auxiliary wheel bascule is when wheel hanging, support frame make robot keep stable, and the auxiliary wheel bascule is arranged on wheel cross spider intersection point, when making robot guarantee balance, unsettled part is more, and the position that robot can be touched is more, and the area of processing is larger.Robot also can enter in storage tank and clear up, only need wheel is replaced by blade-carrying wheel, avoid robot to be absorbed in greasy dirt, robot can be by wired or wireless straighforward operation, make operating personnel need not enter deep work, reduced the possibility that accident occurs.The manipulator of robot is replaceable multiple, makes the achievable task of robot many, applied widely.
Description of drawings
Accompanying drawing 1 is for being equipped with the grinding machine hand, and wheel adopts the plan structure figure of the surface maintenance robot of magnetic wheel;
Accompanying drawing 2 is for being equipped with the grinding machine hand, and wheel is the side-looking structure chart of surface maintenance robot that vaned wheel is installed;
Accompanying drawing 3 is the structure chart of spray coating mechanical hand.
The specific embodiment
surface maintenance of the present utility model robot, as Fig. 1 to 2, comprise vehicle frame 1 and the wheel that is arranged on vehicle frame 1, control device 2 is installed on vehicle frame 1 and be used for drives the drive motors of wheel, control device 2 is connected with drive motors, be provided with processor in control device 2 and be used for receiving and dispatching the signal receiver of remote signal, vehicle frame 1 front portion is equipped with rotating camera 3, camera 3 is electrically connected to control device 2, be provided with microphone and illuminating lamp on camera 3, vehicle frame 1 middle part is equipped with auxiliary wheel bascule 4, vehicle frame 1 rear portion is equipped with terminal plate 5, be provided with power interface 6 on terminal plate 5, manipulator installing port 7, remote signal interface 8, power interface 6 all is connected with control device 2 with remote signal interface 8, be equipped with on manipulator installing port 7 be used to the manipulator that carries out operation, vehicle frame 1 bottom is equipped with for the control motor of controlling manipulator.
Operating personnel can carry out remote control by Digiplex, and between Digiplex and signal receiver, communication is connected, and sets up the signal and communication of Digiplex and control device 2.Also can carry out remote control by wire remote control devices, wire remote control devices is connected with remote signal interface 8 by holding wire, sets up the signal and communication of wire remote control devices and control device 2.
As shown in Figure 1, wheel is the magnetic force wheel, makes robot be adsorbed on the metal surface.The magnetic force wheel comprises the magnet 17 of colyliform and minute magnet-wheel 18 of being made by high-carbon steel, and a minute magnet-wheel 18 is provided with two, and magnet 17 is arranged between two minutes magnet-wheels 18, has increased the magnetic of wheel, has improved robot absorption affinity from the teeth outwards.
As shown in Figure 2, carrying out the tank body such as oil tank cleaning when robot is that wheel can adopt another kind of structure, and a plurality of blades vertical with wheel face 19 are installed on the wheel face of wheel.
Wheel comprises the first front-wheel 9 and the second front-wheel 10 that vehicle frame 1 front portion is installed, the first trailing wheel 11 and second trailing wheel 12 at vehicle frame 1 rear portion is installed, the first front-wheel 9 and the first trailing wheel 11 are positioned at the same side of vehicle frame 1, the first front-wheel 9 is positioned at the place ahead of the second front-wheel 10, the first trailing wheel 11 is positioned at the place ahead of the second trailing wheel 12, sprocket wheel 13 all is installed on wheel, and the sprocket wheel 13 that is positioned on two wheels of vehicle frame the same side is connected by chain 14.
The first front-wheel 9 extended vehicle frames 1 of front end, when robot moves to vertical metal surface from the metal surface of level, above the first front-wheel 9 can first touch vertical metal surface and is adsorbed on, because front and back wheel is connected by chain 14, each wheel is dynamic, the first front-wheel 9 can first move upward along vertical metal surface, and vehicle frame 1 is stood, and finally makes whole wheels be adsorbed on vertical metal surface.
Auxiliary wheel bascule 4 comprises and is vertically mounted on vehicle frame 1 and the steer motor 15 that is connected with control device 2, the auxiliary wheel device 16 that is arranged on vehicle frame 1 below and is connected with the main shaft of steer motor 15.
Auxiliary wheel bascule 4 is arranged on the intersection point of wheel intersection line, auxiliary wheel bascule 4 is positioned on the long-chord of triangle that any 3 wheels form, when making a wheel hanging of robot, support frame 1, make robot keep stable, and make the unsettled part of robot more, the position that robot can be touched is more, and the area of processing is larger.
Manipulator comprises grinding machine hand 22 and spray coating mechanical hand 23, according to selecting under different operating modes.
Grinding wheel 28 can be according to the work that will carry out, selects the emery wheel that various shapes and material make or the wire wheel of being made by steel wire.
As shown in Figure 3, spray coating mechanical hand 23 comprises arm 24, the holder 25 of hollow, power transmission shaft 26 is installed in arm 24 and is coated with material conveying tube 29, the outer end of power transmission shaft 26 is fixedly connected with holder 25, the coaxial connection of rotating shaft 20 in the inner of power transmission shaft 26 and manipulator installing port 7, air pump 30 and the shower nozzle 31 that is connected with air pump 30 are installed on holder 25, and air pump 30 is connected with the feeding mechanism that coating is provided by being coated with material conveying tube 29.
Control motor successively by Hooks coupling universal coupling 21, rotating shaft 20, power transmission shaft 26, control holder 25 and swing, adjust the grinding wheel 28 that is arranged on holder 25 or the operating angle of shower nozzle 31.
Claims (10)
1. surface maintenance robot, it is characterized in that, comprise vehicle frame (1) and be arranged on wheel on vehicle frame (1), control device (2) is installed on vehicle frame (1) and be used for drives the drive motors of wheel, control device (2) is connected with drive motors, be provided with processor in control device (2) and be used for receiving and dispatching the signal receiver of remote signal, vehicle frame (1) front portion is equipped with rotating camera (3), camera (3) is electrically connected to control device (2), camera is provided with microphone and illuminating lamp on (3), vehicle frame (1) middle part is equipped with auxiliary wheel bascule (4), vehicle frame (1) rear portion is equipped with terminal plate (5), be provided with power interface (6) on terminal plate (5), manipulator installing port (7), remote signal interface (8), power interface (6) all is connected with control device (2) with remote signal interface (8), be equipped be used to the manipulator that carries out operation on manipulator installing port (7), vehicle frame (1) bottom is equipped with for the control motor of controlling manipulator.
2. surface maintenance according to claim 1 robot, it is characterized in that, described wheel is the magnetic force wheel, the magnetic force wheel comprises the magnet (17) of colyliform and minute magnet-wheel (18) of being made by high-carbon steel, minute magnet-wheel (18) is provided with two, and magnet (17) is arranged between two minutes magnet-wheel (18).
3. surface maintenance according to claim 1 robot, is characterized in that, a plurality of blades vertical with wheel face (19) are installed on the wheel face of wheel.
4. according to claim 2 or 3 described surface maintenance robots, it is characterized in that, described wheel comprises installs vehicle frame (1) anterior the first front-wheel (9) and the second front-wheel (10), the first trailing wheel (11) and second trailing wheel (12) at vehicle frame (1) rear portion are installed, the first front-wheel (9) and the first trailing wheel (11) are positioned at the same side of vehicle frame (1), the first front-wheel (9) is positioned at the place ahead of the second front-wheel (10), the first trailing wheel (11) is positioned at the place ahead of the second trailing wheel (12), sprocket wheel (13) all is installed on wheel, the sprocket wheel (13) that is positioned on two wheels of vehicle frame the same side is connected by chain (14).
5. surface maintenance according to claim 1 robot, it is characterized in that, auxiliary wheel bascule (4) comprises the steer motor (15) that is vertically mounted on vehicle frame (1) and goes up and be connected with control device (2), the auxiliary wheel device (16) that is arranged on vehicle frame (1) below and is connected with the main shaft of steer motor (15), and auxiliary wheel bascule (4) is arranged on the intersection point of wheel intersection line.
6. surface maintenance according to claim 1 robot, is characterized in that, rotating shaft (20) is installed in manipulator installing port (7), and rotating shaft (20) is connected with the main shaft of controlling motor by Hooks coupling universal coupling (21).
7. surface maintenance according to claim 6 robot, is characterized in that, described manipulator comprises grinding machine hand (22) and spray coating mechanical hand (23).
8. surface maintenance according to claim 7 robot, it is characterized in that, described grinding machine hand (22) comprises arm (24), the holder (25) of hollow, power transmission shaft (26) is installed in arm (24), the outer end of power transmission shaft (26) is fixedly connected with holder (25), the coaxial connection of rotating shaft (20) in the inner of power transmission shaft (26) and manipulator installing port (7), polishing motor (27) is installed on holder (25), on the main shaft of polishing motor (27), grinding wheel (28) is installed.
9. surface maintenance according to claim 8 robot, is characterized in that, described grinding wheel (28) is emery wheel or the wire wheel made by steel wire.
10. surface maintenance according to claim 7 robot, it is characterized in that, described spray coating mechanical hand (23) comprises the arm (24) of hollow, holder (25), power transmission shaft (26) is installed in arm (24) and is coated with material conveying tube (29), the outer end of power transmission shaft (26) is fixedly connected with holder (25), the coaxial connection of rotating shaft (20) in the inner of power transmission shaft (26) and manipulator installing port (7), air pump (30) and the shower nozzle (31) that is connected with air pump (30) are installed on holder (25), air pump (30) is connected with the feeding mechanism that coating is provided by being coated with material conveying tube (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320232245 CN203266627U (en) | 2013-05-02 | 2013-05-02 | Surface maintaining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320232245 CN203266627U (en) | 2013-05-02 | 2013-05-02 | Surface maintaining robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203266627U true CN203266627U (en) | 2013-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320232245 Expired - Fee Related CN203266627U (en) | 2013-05-02 | 2013-05-02 | Surface maintaining robot |
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| CN105171619A (en) * | 2015-09-28 | 2015-12-23 | 上海广成涂装技术工程有限公司 | Automatic sand blasting system for ship outer wall |
| CN105290931A (en) * | 2015-10-28 | 2016-02-03 | 江苏基业信息技术有限公司 | Storage tank wall maintenance robot and control system thereof |
| CN105435994A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port suspension arm surface maintenance system |
| CN105435987A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Surface spraying robot for large stainless steel material storage tank |
| CN105437239A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port crane maintenance robot |
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| CN105438301A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Magnetic adsorption type robot for detecting shell surface of shipbuilding steel plate |
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| CN105438302A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Open type steel surface maintenance robot with charging function |
| CN105437240A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Robot for detecting inner wall of large steel container |
| CN105467005A (en) * | 2015-11-28 | 2016-04-06 | 江苏风雷文化传媒有限公司 | Welded seam inspection robot |
| CN105478287A (en) * | 2015-11-28 | 2016-04-13 | 江苏风雷文化传媒有限公司 | Crane steel structure surface maintenance robot system |
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| CN105478280A (en) * | 2015-11-28 | 2016-04-13 | 江苏风雷文化传媒有限公司 | Wind power tower base surface maintenance robot |
| CN105499028A (en) * | 2015-11-28 | 2016-04-20 | 江苏风雷文化传媒有限公司 | Steel tank surface maintaining device with automatic charging function |
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| CN105521890A (en) * | 2015-11-28 | 2016-04-27 | 江苏风雷文化传媒有限公司 | Spraying robot for outer wall of large water storage tank |
| CN105527343A (en) * | 2015-11-28 | 2016-04-27 | 江苏风雷文化传媒有限公司 | Robot for detecting welds on outer wall of large-scale water storage tank |
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| CN105881172A (en) * | 2015-01-20 | 2016-08-24 | 朱培池 | Hull derusting machine |
| CN105171619A (en) * | 2015-09-28 | 2015-12-23 | 上海广成涂装技术工程有限公司 | Automatic sand blasting system for ship outer wall |
| CN105290931A (en) * | 2015-10-28 | 2016-02-03 | 江苏基业信息技术有限公司 | Storage tank wall maintenance robot and control system thereof |
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| CN105467005A (en) * | 2015-11-28 | 2016-04-06 | 江苏风雷文化传媒有限公司 | Welded seam inspection robot |
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| CN105437237A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Large storage tank inner wall detection robot |
| CN105438302A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Open type steel surface maintenance robot with charging function |
| CN105435987A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Surface spraying robot for large stainless steel material storage tank |
| CN105438301B (en) * | 2015-11-28 | 2017-09-15 | 广东鑫泰科技集团有限公司 | A kind of magnetic adsorption type shipbuilding steel plate case surface detects robot |
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