CN206214598U - The external plate of oceangoing ship climbs wall work body tracking mode safety rope stranded cable protector system - Google Patents
The external plate of oceangoing ship climbs wall work body tracking mode safety rope stranded cable protector system Download PDFInfo
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- CN206214598U CN206214598U CN201621225877.1U CN201621225877U CN206214598U CN 206214598 U CN206214598 U CN 206214598U CN 201621225877 U CN201621225877 U CN 201621225877U CN 206214598 U CN206214598 U CN 206214598U
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- China
- Prior art keywords
- safety rope
- wall work
- work body
- stranded cable
- cable protector
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Abstract
A kind of external plate of oceangoing ship climbs wall work body tracking mode safety rope stranded cable protector system, belongs to the ship intelligent manufacturing equipment technical field in Naval Architecture and Ocean Engineering.The system is mainly including tensioning steel wire rope, protector body, laser positioning generation and receiver, motor and groove driving wheel, main main control unit, suspension safety rope and the part such as tightening device, pulling force limiter.Solve large scale climb wall work body fall swing or clash into ship hull plate problem.Horizontal tracing and the design concept of longitudinal flexible suspension are that positioning self-locking in real time, will not both wave along deck of boat surface once climbing wall work body and falling, and will not also clash into ship hull plate.The guard system simple structure, high degree of automation is easy to operate, safe and reliable, practical, and embodiment is that a kind of ship plank that prevents of great future in engineering applications climbs the security system that the absorption failure of wall work body is fallen, waves, clashing into rationally.
Description
Technical field
The utility model is related to a kind of external plate of oceangoing ship to climb wall work body tracking mode safety rope stranded cable protector system, belongs to ship
Ship intelligent manufacturing equipment technical field in oceangoing ship and ocean engineering.
Background technology
The automation of ship hull plate climb wall operation mainly include with the rust cleaning of the artificial work body of large-scale wall-climbing device, spraying,
Welding and detection etc..Ship hull plate working space is big, and work high above the ground is dangerous big, and the environmental protection such as rust cleaning and spray painting and occupation are strong
Kang Wenti increasingly causes the concern of people, and ship hull plate tool operation is carried using the large-scale climbing robot of automation, can
So that workman is away from setting, work high above the ground danger and dust atmosphere pollution are prevented effectively from.
As the Research intensity of intelligent shipbuilding is increased, large-scale climbing robot technology achieves very big development, but, should
Class large scale equipment typically uses permanent magnetism, electromagnetism or vacuum suction on the surface of ship hull plate, although various suction types are all designed
Larger absorption surplus, it is ensured that the reliable absorption of climbing robot work body and ship hull plate, but, marine surface curvature is answered
It is miscellaneous, surface attachments influence absorption, and climbing robot work body pulls the swinging loads such as pipeline, electric wire, robot often
Work body body also will constantly be moved on ship hull plate surface, and the climbing robot operation body weight for particularly eliminating rust and spraying is all
It is very big, typically all in 50 more than ㎏, it is easy to cause absorption to fail and come off and fall and ship hull plate between.
Traditional safety device is arranged in ship deck top using safety rope, by direct surveillance.But, outside ship
Span of slab is very big, and by taking large ship VLCC as an example, operation distance reaches more than 300m before and after ship bow stern, and operation span is very
Greatly, though and the height of ship has reached 30m, it is very small for the span compared to ship bow stern, therefore wall-climbing device
The safety rope distance of people's work body can not be more than 30m, once being more than 30m, climbing robot falls the ground that will likely directly drop.
It is interval that this requires that the safety rope artificially constantly above assist people constantly adjusts operation, or auxiliary with
Special loop wheel machine carries out the adjoint protection of ship bow stern overall process.Operation is extremely difficult.Particularly, even if robot security's rope is small
In 30m, safety rope is in relaxed state, once robot falls, even if be unlikely to fall falling earthward, till that time or may be because
Climbing robot work body is caused along ship plank surface wobble for the lax of safety rope, so that ship hull plate surface is scratched,
Damage climbing robot work body, in some instances it may even be possible to directly produce impact damage between the two.
The content of the invention
In order to overcome problems of the prior art, the utility model provides a kind of ship hull plate and climbs wall operation volume tracing
Formula safety rope stranded cable protector system, the safety rope stranded cable protector system answers simple structure, high degree of automation, operation side
Just, safe and reliable, practical, embodiment is that a kind of ship plank that prevents of great future in engineering applications climbs wall work rationally
The security system that the absorption failure of industry body is fallen, waves, clashing into.
The technical solution adopted in the utility model is：A kind of ship hull plate climbs the protection of wall work body tracking mode safety rope stranded cable
Device system, it includes climbing wall work body, main control unit, and it also includes tracking mode safety rope stranded cable protector body, climbs wall work
Industry body suspension safety rope, tensioning hanging steel rope；Left groove is horizontally disposed with the tracking mode safety rope stranded cable protector body
Driving wheel and right groove driving wheel, left groove driving wheel and right groove driving wheel contact are suspended on tensioning hanging steel rope and roll
Dynamic, tracking motor is arranged on tracking mode safety rope stranded cable protector body, tracks driving motor output shaft and driving wheel
It is bonded and connects, the safety rope tightening device on the downside of left groove driving wheel and right groove driving wheel is twisted installed in tracking mode safety rope
On cable protector body, mechanical ratchet gravitational thrusts pulling force limiter is arranged in safety rope tightening device；It is described to climb wall work
Industry body suspension safety rope is connected with mechanical ratchet gravitational thrusts pulling force limiter colligation, climbs wall work body and hangs safety rope along ship
External plate is connected with safe hoisting ring, and safe hoisting ring is arranged on and climbs in wall work body；The tensioning hanging steel rope is fixed on ship
In bow stern steel wire rope fix bar, ship bow stern steel wire rope fix bar is fixed on the topside of ship hull plate bow stern two；The tracking mode peace
Fixed A laser positionings generator and B laser positioning generators, C laser positioning receivers are installed on full rope stranded cable protector body
Installed in climbing in wall work body；The main control unit is arranged on tracking mode safety rope stranded cable protector body.
The beneficial effects of the utility model are：The tracking mode safety rope stranded cable that the safety rope stranded cable protector system is used is prevented
Shield device body is positioned by left groove driving wheel and right groove driving wheel and is suspended on tensioning hanging steel rope, is internally provided with certainly
Dynamic control motor, can be along automatically moving in the range of the captain of ship hull plate and moldeed depth；Safety rope tightening device has
Make to climb the wall work body safety rope constantly flexible function of tightening up, be provided with mechanical ratchet gravitational thrusts pulling force limiter, and with
The height change of robot manipulating task, constantly can flexibly be stretched, both possessed extensibility, but also with austerity, can make to climb wall
Work body is fallen in which point absorption failure and just pinned in which point positioning, will not both be waved along ship hull plate surface, also will not
Ship hull plate is clashed into, also vertically will not further be fallen；A laser positionings generator and B laser positionings generator swash with C
Light-seeking receiver, and main main control unit forms track and localization signal and receives and judgement treatment, realizes tracking mode safety rope
The real-time vertical tracking protection of climbing wall work body of the stranded cable protector body to lower section；The large-scale constantly safety for climbing wall work body is anti-
Shield, flexibly protection tracking, the big ship bow stern span of protective range is big, and high degree of automation, operation are simple, large-scale in ship hull plate
Climb wall work body operation, and the aspect such as similar large-scale petroleum storing tank, heavy steel plate wall-climbing robot on surface operation has wide
Application prospect.
Brief description of the drawings
Fig. 1 is that ship hull plate climbs wall work body tracking mode safety rope stranded cable protector system diagram.
Fig. 2 is tracking mode safety rope stranded cable protector figure.
Fig. 3 is tracking mode safety rope stranded cable protector following principle figure.
In figure：1st, it is tensioned hanging steel rope, 2, A laser positioning generators, 3, safety rope tightening device, 4, left groove drives
Wheel, 5, right groove driving wheel, 6, tracking mode safety rope stranded cable protector body, 7, mechanical ratchet gravitational thrusts pulling force it is spacing
Device, 8, B laser positioning generators, 9, climb wall work body suspension safety rope, 10, C laser positioning receivers, 11, ship bow stern steel
Cord fix bar, 12, safe hoisting ring, 13, climb wall work body, 14, ship hull plate, 15, main main control unit, 16, tracking drives
Motor.
Specific embodiment
Fig. 1,2,3 show that ship hull plate climbs wall work body tracking mode safety rope stranded cable protector system diagram.In figure, the peace
Full rope stranded cable protector system includes tensioning hanging steel rope 1, tracking mode safety rope stranded cable protector body 6, climbs wall work body
Hang safety rope 9 and climb wall work body 13.Tensioning hanging steel rope 1 is fixed in ship bow stern steel wire rope fix bar 11, ship
Bow stern steel wire rope fix bar 11 is fixed on the bow stern both sides of ship plank 14.Set in tracking mode safety rope stranded cable protector body 6
Left groove driving wheel 4 and right groove driving wheel 5 are equipped with, left groove driving wheel 4 is horizontally disposed with right groove driving wheel 5, tracking mode
Safety rope stranded cable protector body 6 is positioned by left groove driving wheel 4 and right groove driving wheel 5 and is suspended on tensioning hanging steel rope
On 1.Safety rope tightening device 3 is fixed on tracking mode safety rope stranded cable protector body 6, positioned at left groove driving wheel 4 and the right side
The downside of groove driving wheel 5, setting is connected with mechanical ratchet gravitational thrusts pulling force limiter 7, and the suspension of wall work body is safe with climbing
Rope 9 is connected, and is climbed wall work body suspension safety rope 9 and is connected by safe hoisting ring 12 with wall work body 13 is climbed along ship plank 14.With
A laser positionings generator 2 and B laser positionings generator 8 are fixed on track formula safety rope stranded cable protector body 6, wall operation is climbed
C laser positionings receiver 10 is fixed on body 13；Fixed tracking drives electricity on the tracking mode safety rope stranded cable protector body 6
Machine 16 is connected with left groove driving wheel 4 and right groove driving wheel 5；It is fixed on the tracking mode safety rope stranded cable protector body 6
Main main control unit 15 is connected with tracking motor 16, reception processing A laser positionings generator 2, B laser positionings generator 8
With the signal of C laser positionings receiver 10.
Tracking mode safety rope stranded cable protector body 6 is positioned by left groove driving wheel 4 and right groove driving wheel 5 and is suspended on
Tensioning hanging steel rope 1 on, be internally provided with and automatically control motor, can along ship bow stern on a large scale, large scale bow
Stern direction automatically moves；Safety rope tightening device 3 has to be made to climb the wall work body safety rope constantly flexible function of tightening up, and is provided with
Mechanical ratchet gravitational thrusts pulling force limiter 7；A laser positionings generator 2 and B laser positionings generator 8 connect with C laser positionings
Device 10 is received, and main main control unit 15 forms track and localization signal and receives and judgement treatment, realizes tracking mode safety rope stranded cable
The constantly vertical tracking protection for climbing wall work body 13 of 6 pairs of lower sections of protector body.
Ship plank climbs wall work body tracking mode safety rope stranded cable protector system and its positioning protection application method to be included
Following steps：
Step one tracking mode safety rope stranded cable protector following principle：A laser positionings generator and B and C laser positionings connect
Receive the back gauge triangles such as device formation to judge, its tracking resolution principle is：When laser acquisition is apart from AC ＞ BC, tracking mode safety rope
Stranded cable protector body 6 is climbing the left side of wall work body 13, then tracking mode safety rope stranded cable protector body 6 is followed the trail of and climbs wall work body
13 along the ship stern movement to the right of tensioning hanging steel rope 1；When laser acquisition is apart from AC ＜ BC, tracking mode safety rope stranded cable is prevented
Shield device body 6 climbing the right side of wall work body 13, then tracking mode safety rope stranded cable protector body 6 follow the trail of climb wall work body 13 along
The stem movement to the left of tensioning hanging steel rope 1；When laser acquisition is apart from AC=BC, tracking mode safety rope stranded cable protector sheet
Body 6 is climbed wall work body suspension safety rope 9 and is in and climb the equal operation height of wall work body 13 climbing the normal position of wall work body 13
It is most short.
Step 2 positions means of defence：The safety rope tightening device 3 makes to climb wall work body safety rope that constantly flexibility is tightened up
Function, and with the height change of robot manipulating task, constantly can flexibly stretch, both possessed extensibility, but also with austerity；
Mechanical ratchet gravitational thrusts pulling force limiter 7 is provided with, wall work body is climbed and is fallen once adsorbing failure, mechanical ratchet gravity
Impact tension limiter starts immediately tightens up safety rope,
Play the positioning protective effect to climbing wall work body.
Step 3 climbs the wall work body absorption anti-fall application method of failure：Horizontal automatic tracking type safety rope stranded cable protector
Implement with the cooperation for climbing wall work body suspension safety rope that longitudinal flexible is tightened up.On the one hand, tracking mode safety rope stranded cable protector
Judged by laser distance, constantly find and climb right position of the wall work body in oneself body vertical lower, after being judged certainly
Dynamic motor is driven and drives groove pulley along ship bow stern lateral tension steel wire rope transverse moving left and right, and wall operation is climbed constantly to track
Body, the moment is maintained at climbs directly over wall work body vertical direction, most short to ensure to climb wall work body suspension safety rope, and in ship
In external plate altitude range, will not make because climbed caused by safety rope is long wall work body because absorption failure is fallen suddenly when swing and
Clash into ship hull plate surface.On the other hand, setting safety rope tightening device makes safety rope constantly flexibility is tightened up, and with robot
The height change of operation, constantly can flexibly stretch, and both possess extensibility, but also with austerity, can make to climb wall work body and exist
Which point absorption failure is fallen and just pinned in which point positioning, will not both be waved along ship plank surface, will not also clash into hull
Outside plate, also vertically will not further fall.
Above-mentioned ship hull plate climbs wall work body tracking mode safety rope stranded cable protector system when in use, and operator is first in ship
Ship bow stern steel wire rope fix bar is set up on oceangoing ship bow after-deck, tracking mode safety rope stranded cable protector is arranged in tensioning suspension steel
In cord, tracking mode safety rope stranded cable protector is hung into safety rope by climbing wall work body and is climbed wall work body and is connected, electricity consumption
Source is powered to tracking motor, starts A laser positionings generators, B, C, when climbing wall work body along ship hull plate surface
During mobile operation, tracking mode safety rope stranded cable protector will realize real-time tracking, climb wall work body suspension safety rope and keep soft
Property stretch and tighten, realize the protection to climbing wall work body.
Claims (1)
1. a kind of ship hull plate climbs wall work body tracking mode safety rope stranded cable protector system, and it includes climbing wall work body（13）、
Main control unit（15）, it is characterized in that：It also includes tracking mode safety rope stranded cable protector body（6）, climb wall work body suspension
Safety rope（9）, tensioning hanging steel rope（1）；The tracking mode safety rope stranded cable protector body（6）Interior horizontally disposed left groove
Driving wheel（4）With right groove driving wheel（5）, left groove driving wheel（4）With right groove driving wheel（5）It is outstanding that contact is suspended on tensioning
Hang steel wire rope（1）Upper rolling, tracks motor（16）Installed in tracking mode safety rope stranded cable protector body（6）On, tracking
Motor（16）Output shaft is bonded with driving wheel and connects, positioned at left groove driving wheel（4）With right groove driving wheel（5）The peace of downside
Full rope tightening device（3）Installed in tracking mode safety rope stranded cable protector body（6）On, mechanical ratchet gravitational thrusts pulling force limit
Position device（7）Installed in safety rope tightening device（3）It is interior；It is described to climb wall work body suspension safety rope（9）With mechanical ratchet gravity
Impact tension limiter（7）Colligation is connected, and climbs wall work body suspension safety rope（9）Along ship hull plate（14）With safe hoisting ring（12）
Connection, safe hoisting ring（12）Installed in climbing wall work body（13）On；The tensioning hanging steel rope（1）It is fixed on ship bow stern steel
Cord fix bar（11）On, ship bow stern steel wire rope fix bar（11）It is fixed on ship hull plate（14）The topside of bow stern two；It is described with
Track formula safety rope stranded cable protector body（6）It is upper that fixed A laser positioning generators are installed（2）With B laser positioning generators（8）, C
Laser positioning receiver（10）Installed in climbing wall work body（13）On；The main control unit（15）Installed in tracking mode safety rope
Stranded cable protector body（6）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225877.1U CN206214598U (en) | 2016-11-15 | 2016-11-15 | The external plate of oceangoing ship climbs wall work body tracking mode safety rope stranded cable protector system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225877.1U CN206214598U (en) | 2016-11-15 | 2016-11-15 | The external plate of oceangoing ship climbs wall work body tracking mode safety rope stranded cable protector system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206214598U true CN206214598U (en) | 2017-06-06 |
Family
ID=58792428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621225877.1U Expired - Fee Related CN206214598U (en) | 2016-11-15 | 2016-11-15 | The external plate of oceangoing ship climbs wall work body tracking mode safety rope stranded cable protector system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206214598U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422109A (en) * | 2016-11-15 | 2017-02-22 | 大连理工大学 | Tracking mode safety rope stranded cable protector system by wall-climbing operating body on outer board of ship body and positioning and protecting use method therefor |
| CN107685832A (en) * | 2017-09-11 | 2018-02-13 | 无锡宝宏船舶机械有限公司 | The clean-out cover peculiar to vessel used with safety lock wire saws |
| CN108375963A (en) * | 2017-12-28 | 2018-08-07 | 北京中船信息科技有限公司 | Collecting method based on Internet of Things |
| CN112846579A (en) * | 2020-12-31 | 2021-05-28 | 北京博清科技有限公司 | Welding device, control method thereof, control device, processor and welding system |
-
2016
- 2016-11-15 CN CN201621225877.1U patent/CN206214598U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422109A (en) * | 2016-11-15 | 2017-02-22 | 大连理工大学 | Tracking mode safety rope stranded cable protector system by wall-climbing operating body on outer board of ship body and positioning and protecting use method therefor |
| CN106422109B (en) * | 2016-11-15 | 2021-12-07 | 大连理工大学 | Tracking type safety rope stranded cable protector system for outer plate wall climbing operation body of ship and positioning protection using method thereof |
| CN107685832A (en) * | 2017-09-11 | 2018-02-13 | 无锡宝宏船舶机械有限公司 | The clean-out cover peculiar to vessel used with safety lock wire saws |
| CN108375963A (en) * | 2017-12-28 | 2018-08-07 | 北京中船信息科技有限公司 | Collecting method based on Internet of Things |
| CN112846579A (en) * | 2020-12-31 | 2021-05-28 | 北京博清科技有限公司 | Welding device, control method thereof, control device, processor and welding system |
| CN112846579B (en) * | 2020-12-31 | 2023-03-14 | 北京博清科技有限公司 | Welding device, control method thereof, control device, processor and welding system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20191115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |