CN206781910U - Ship wall-climbing robot for removing rust - Google Patents

Ship wall-climbing robot for removing rust Download PDF

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Publication number
CN206781910U
CN206781910U CN201720516654.9U CN201720516654U CN206781910U CN 206781910 U CN206781910 U CN 206781910U CN 201720516654 U CN201720516654 U CN 201720516654U CN 206781910 U CN206781910 U CN 206781910U
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CN
China
Prior art keywords
wheel
magnet
vacuum
driven
tight
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CN201720516654.9U
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Chinese (zh)
Inventor
何凯
李赳华
方海涛
耿永清
陈浩
胡绍杰
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深圳市行知行机器人技术有限公司
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Priority to CN201720516654.9U priority Critical patent/CN206781910U/en
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Publication of CN206781910U publication Critical patent/CN206781910U/en

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Abstract

The utility model belongs to climbing robot technical field, more particularly to a kind of ship wall-climbing robot for removing rust, including frame, drive mechanism, vacuum cleaned mechanism and absorption walking mechanism;Absorption walking mechanism includes the active magnet-wheel group and driven magnet-wheel group and belt group for being installed on the sidepiece of frame;Drive mechanism drives active magnet-wheel group and driven magnet-wheel group to rotate;Vacuum cleaned mechanism includes water jet flushing machine, relocation mechanism, vacuum (-tight) housing and rubbery human body, vacuum (-tight) housing is connected with frame and is located at the lower section of central rack, water jet flushing machine is installed on vacuum (-tight) housing, rubbery human body is connected to the periphery of vacuum (-tight) housing, and relocation mechanism is connected between rubbery human body and the top of vacuum (-tight) housing to drive rubbery human body to move up and down.Ship wall-climbing robot for removing rust of the present utility model, the adsorption capacity and obstacle climbing ability of ship wall-climbing robot for removing rust greatly improved, enhance the adaptability to wall surfaces of ships, improve rust cleaning efficiency, so as to realize pollution-free, efficient derusting operation.

Description

Ship wall-climbing robot for removing rust
Technical field
The utility model belongs to climbing robot technical field, more particularly to a kind of ship wall-climbing robot for removing rust.
Background technology
The method of present domestic the trade of shiprepair usually used sandblasting shot-peening in the derusting of marine surface coating removal is this traditional Technique often causes substantial amounts of dust pollution, or even still has dust and sand in 2.5 kilometers of high air layers, is to cause PM2.5 big One of many factors of area pollution.This artificial derusting mode has high pollution, high-risk, high cost, the shortcomings that efficiency is low, Countries in Europe has completely forbidden artificial derusting by sandblasting at present.The automation derusting of robot technology Remote is by climbing wall Robot carries cleaning derusting device, vacuum recovering apparatus performs derusting task, has efficiency high, pollution-free, safe and reliable etc. Feature, it is the development trend of following derusting industry.It is to realize automation to develop the strong climbing robot of a adaptive capability on wall surface The key of derusting.
Chinese patent (application number:200410016429.6) a kind of magnetic roller adsorption type wall climbing robot is proposed, it has Move the advantages of flexible, but because effective adsorption area of magnet-wheel is small, magnetic energy utilization rate is not high, and load capacity is poor.China Patent (application number:200510086382.5) a kind of wheeled magnetic adsorption wall climbing robot with adaptive ability is proposed, it With good curved surface adaptive ability, using differential type of drive, have and move the characteristics of flexible, but magnet-wheel effectively adsorbs Area is smaller, and load capacity is poor.Chinese patent (application number:201521070017.0) propose one kind can be enterprising in water-cooling wall The climbing robot scheme that row is creeped, it has good adsorption capacity, and motion is flexible, but its obstacle climbing ability does not carry Rise, run into the barriers such as weld seam and blocking case easily occur, hinder the normal walking of robot.Chinese patent (201510504773.8) a kind of permanent magnetism crawler-type wall climbing robot scheme is proposed, it is by carrying cleaning device, to ship Derusted.Permanent magnetic suck is provided for powerful absorption affinity.But the robot uses crawler-type traveling mode, be not suitable for big arc Wall operation is spent, there is certain limitation.
In summary, the scheme for ship wall-climbing robot for removing rust of existing proposition, is primarily present climbing robot The shortcomings of obstacle climbing ability is poor, adaptive capability on wall surface is poor, load capacity is not strong, complicated, body is overweight, causes robot to perform In the course of work that derusts, it is impossible to the big radian wall of flexible adaptation, run into the obstacles such as weld seam or breach, easily occur stuck or topple existing As.
Utility model content
The purpose of this utility model is to provide a kind of ship wall-climbing robot for removing rust, it is intended to solves ship of the prior art The technical problem of oceangoing ship wall-climbing robot for removing rust obstacle climbing ability difference.
To achieve the above object, the technical solution adopted in the utility model is:A kind of ship wall-climbing robot for removing rust, including Frame, drive mechanism, vacuum cleaned mechanism and absorption walking mechanism;
It is described absorption walking mechanism include be installed on the frame sidepiece active magnet-wheel group and driven magnet-wheel group and The belt group being set around between the active magnet-wheel group and the driven magnet-wheel group;
The drive mechanism is connected with the active magnet-wheel group to drive the active magnet-wheel group to rotate, and passes through the skin Band group drives the driven magnet-wheel group to rotate;
The vacuum cleaned mechanism includes water jet flushing machine, relocation mechanism, vacuum (-tight) housing and rubbery human body, the vacuum Cover is connected with the frame and is located at the lower section of the central rack, and the water jet flushing machine is installed on the vacuum (-tight) housing On, the rubbery human body is connected to periphery of the vacuum (-tight) housing close to the vacuum (-tight) housing bottom, and the relocation mechanism is connected to institute State between the top of rubbery human body and the vacuum (-tight) housing to drive the rubbery human body to move up and down.
Preferably, the relocation mechanism includes leather bag connector, some casting lug thereons and some elastic components, the rubbery human body Periphery of the vacuum (-tight) housing close to the vacuum (-tight) housing bottom is connected to by the leather bag connector, each casting lug thereon is located at institute State the periphery at the top of vacuum (-tight) housing and be uniformly distributed in a ring, the top of each elastic component is corresponding with each casting lug thereon respectively to be connected Connect, the bottom of each elastic component is fixedly connected with the leather bag connector.
Preferably, the leather bag connector includes annular collar and annular listrium, and the annular collar is socketed on described true The periphery of sky cover, the annular listrium be fixed on the annular collar it is outer and with the perpendicular angle of the annular collar, the rubber Rubber bladder is fixed on the bottom of the annular listrium, and company is fixed at the bottom of each elastic component and the top of the annular listrium Connect.
Preferably, the active magnet-wheel group includes the first active magnet-wheel and the second active magnet-wheel, the driven magnet-wheel group bag The first driven magnet-wheel and the second driven magnet-wheel are included, the belt group includes the first belt and the second belt;
First belt is set around between the first active magnet-wheel and the first driven magnet-wheel, second belt It is set around between the second active magnet-wheel and the second driven magnet-wheel;
The drive mechanism is connected with the first active magnet-wheel and the second active magnet-wheel to drive first master Dynamic magnet-wheel and the second active magnetic wheel rotate, and drive described first respectively by first belt and second belt Driven magnet-wheel and the second driven magnet-wheel rotate.
Preferably, the absorption walking mechanism also includes strainer, and the strainer includes the first nutted rod and the Two nutted rods, first nutted rod are installed on sidepiece of the frame close to first belt, and first nutted rod Extend to bottom of first belt between the first active magnet-wheel and the first driven magnet-wheel and to described One belt applies upward pretightning force;Second nutted rod is installed on sidepiece of the frame close to second belt, and Second nutted rod extends to second belt between the second active magnet-wheel and the second driven magnet-wheel Bottom simultaneously applies upward pretightning force to second belt.
Preferably, the strainer includes the first installing plate and the second installing plate, and first installing plate is installed on institute Frame is stated close to the sidepiece of first belt and is arranged in a vertical direction, is offered vertically on first installing plate Some first tension adjustment holes of arrangement, first nutted rod are fixed on the wherein 1 first tension adjustment hole;It is described Second installing plate is installed on the frame close to the sidepiece of second belt and is arranged in a vertical direction, second installing plate On offer some second tension adjustment holes being arranged in a vertical direction, second nutted rod is fixed on wherein one described second On tension adjustment hole.
Preferably, the drive mechanism include the first motor, the second motor, the first driving shaft, the second driving shaft, first from Moving axis, second driven shaft, first driving shaft and second driving shaft are rotatably installed on the frame rear end respectively Both sides, the first driven shaft and the second driven shaft are rotatably installed on the both sides of the frame front end, institute respectively The main shaft of the first motor and the first driving shaft drive connection are stated, the main shaft of second motor drives with second driving shaft Dynamic connection;
The first active magnet-wheel and the first active axis connection, the second active magnet-wheel and second driving shaft Connection, the first driven magnet-wheel are connected with the first driven shaft, and the second driven magnet-wheel connects with the second driven shaft Connect.
Preferably, the drive mechanism also includes the first decelerator and the second decelerator, and first decelerator is connected to Between the main shaft of first motor and first driving shaft, second decelerator is connected to the main shaft of second motor Between second driving shaft.
Preferably, the frame includes the first transverse tube, the second transverse tube, the first side lever, the second side lever and fixed support, described First transverse tube is located at the top of the vacuum (-tight) housing, first side lever with the second transverse tube arranged for interval and first transverse tube It is fixedly connected between the first side of first transverse tube and the first side of second transverse tube, second side lever is fixedly connected Between the second side of second transverse tube and the second side of second transverse tube;
The first end of first driving shaft and first side lever is rotatablely connected, second driving shaft and described second The first end rotation connection of side lever, the second end of the first driven shaft and first side lever are rotatablely connected, described second from Second end of moving axis and second side lever is rotatablely connected.
Preferably, the water jet flushing machine includes spring bearing, rotary shaft and swivel mount, and the spring bearing is fixed In the top of the vacuum (-tight) housing, the rotary shaft is through the vacuum (-tight) housing and is fixedly connected with the spring bearing, the rotation It is set up in the vacuum (-tight) housing and is fixedly connected with the rotary shaft, the swivel mount is provided with some nozzles, the swivel mount It is interior to be provided with the diversion pipeline connected with the nozzle line provided with the nozzle line connected with each nozzle, the rotary shaft.
The beneficial effects of the utility model:Ship wall-climbing robot for removing rust of the present utility model, when in walking process, ship When wall-climbing robot for removing rust runs into barrier, driven magnet-wheel group can first clear the jumps, and the rubbery human body of vacuum cleaned mechanism exists Float accordingly highly, clear the jumps upwards in the presence of relocation mechanism, last active magnet-wheel group clears the jumps, so as to complete Into obstacle detouring.In whole process, ship wall-climbing robot for removing rust absorption wall is to ship by driven magnet-wheel group and active magnet-wheel group What the absorption affinity and vacuum (-tight) housing of oceangoing ship wall were realized to the vacuum adsorption force collective effect of wall surfaces of ships.When driven magnet-wheel group obstacle detouring When, active magnet-wheel group and vacuum (-tight) housing provide absorption affinity;Conversely, during active magnet-wheel group obstacle detouring, driven magnet-wheel group and vacuum (-tight) housing provide Absorption affinity;During vacuum (-tight) housing obstacle detouring, driven magnet-wheel group and active magnet-wheel group provide magnetic adsorbability jointly.Ship of the present utility model removes Become rusty climbing robot, by carrying out optimized design to absorption walking mechanism and vacuum cleaned mechanism, ship greatly improved and remove The adsorption capacity and obstacle climbing ability of rust climbing robot, enhance the adaptability to wall surfaces of ships, improve rust cleaning efficiency, from And realize pollution-free, efficient derusting operation.
Brief description of the drawings
, below will be to embodiment or prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model The required accompanying drawing used is briefly described in description, it should be apparent that, drawings in the following description are only that this practicality is new Some embodiments of type, for those of ordinary skill in the art, without having to pay creative labor, can be with Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation one for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Fig. 2 is the structural representation two for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Fig. 3 is the top view for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Fig. 4 is the structural decomposition diagram for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Fig. 5 is the structural representation of the vacuum cleaned mechanism for the ship wall-climbing robot for removing rust that the utility model embodiment provides Figure.
Fig. 6 is that the vacuum cleaned mechanism for the ship wall-climbing robot for removing rust that the utility model embodiment provides hides water jet Structural decomposition diagram after flushing machine.
Fig. 7 is that the structure of the water jet flushing machine for the ship wall-climbing robot for removing rust that the utility model embodiment provides is shown It is intended to.
Fig. 8 is the structure point of the water jet flushing machine for the ship wall-climbing robot for removing rust that the utility model embodiment provides Solve schematic diagram.
Fig. 9 is the structural representation of the frame for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Figure 10 is the structural representation of the rubbery human body for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Figure 11 is the structural representation of the strainer for the ship wall-climbing robot for removing rust that the utility model embodiment provides.
Wherein, each reference in figure:
The transverse tube of the transverse tube of 10-frame 11-the first 12-the second
13-the first side lever 15-fixed support of the 14-the second side lever
16-the first montant 20-drive mechanism of the 17-the second montant
21-the first motor the 23-the first driving shaft of the 22-the second motor
24-the second driving shaft 25-first driven shaft, 26-second driven shaft
27-the first decelerator 30-vacuum cleaned of the 28-the second decelerator mechanism
31-water jet flushing machine 32-relocation mechanism, 33-vacuum (-tight) housing
34-rubbery human body 40-absorption walking mechanism 41-active magnet-wheel group
42-driven magnet-wheel group, 43-belt, 44-strainer of group
311-spring bearing, 312-rotary shaft, 313-swivel mount
314-nozzle, 321-leather bag, 322-casting lug thereon of connector
323-elastic component, 331-vacuum communicating, 332-sewage recycling mouth of mouth
341-clamping ring portion 342-absorption active the magnet-wheel of edge 411-the first
412-the second the 421-the first driven driven magnet-wheel of magnet-wheel 422-the second of active magnet-wheel
431-the first belt the 441-the first nutted rod of the 432-the second belt
442-the second nutted rod the 444-the second installing plate of the 443-the first installing plate
3121-diversion pipeline 3131-nozzle line, 3132-rotary body
3133-rotating arm, 3211-annular collar 3212-annular listrium
3213-lower connecting holes 3221-go up the tension adjustment of connecting hole 4431-the first hole
4441-the second tension adjustment hole.
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng The embodiment for examining the description of accompanying drawing 1~11 is exemplary, it is intended to for explaining the utility model, and it is not intended that to this practicality New limitation.
In description of the present utility model, it is to be understood that term " length ", " width ", " on ", " under ", " preceding ", The orientation or position relationship of the instruction such as " rear ", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are based on attached Orientation or position relationship shown in figure, it is for only for ease of and describes the utility model and simplify to describe, rather than instruction or hint Signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this The limitation of utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two More than, unless otherwise specifically defined.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally;Can be Mechanically connect or electrically connect;Can be joined directly together, can also be indirectly connected by intermediary, can be two The connection of element internal or the interaction relationship of two elements.For the ordinary skill in the art, can basis Concrete condition understands concrete meaning of the above-mentioned term in the utility model.
As shown in figures 1-4, a kind of ship wall-climbing robot for removing rust that the utility model embodiment provides, it is mainly applied In the derusting of marine surface.Wherein, ship wall-climbing robot for removing rust includes frame 10, drive mechanism 20, vacuum cleaned mechanism 30 With absorption walking mechanism 40.That is, the hull cleaning climbing robot in the present embodiment is mainly existed by three big module assembleds Formed in frame 10, assembling is more prone to, and drive mechanism 20 primarily serves the effect for producing power, and vacuum cleaned mechanism 30 is then real Now cleaning water spray operation and the effect of auxiliary walking, and adsorb walking mechanism 40 and primarily serve the work walked in wall surfaces of ships With.
Further, the absorption walking mechanism 40 includes being installed on the He of active magnet-wheel group 41 of the sidepiece of the frame 10 Driven magnet-wheel group 42 and the belt group 43 being set around between the active magnet-wheel group 41 and the driven magnet-wheel group 42.Specifically Ground, absorption walking mechanism 40 are to be rotated to drive driven magnet-wheel group by belt group 43 by active magnet-wheel group 41 in the process of walking 42 rotate so as to realize the walking of ship wall-climbing robot for removing rust complete machine.
Further, the drive mechanism 20 is connected with the active magnet-wheel group 41 to drive 41 turns of the active magnet-wheel group It is dynamic, and drive the driven magnet-wheel group 42 to rotate by the belt group 43.Specifically, the main active of drive mechanism 20 be for The rotation of active magnet-wheel group 41 provides power, and such active magnet-wheel group 41 could rotate, then active magnet-wheel group 41 could pass through Belt group 43 drives driven magnet-wheel group 42 to rotate, so as to realize the walking of ship wall-climbing robot for removing rust complete machine.
Further, with reference to shown in Fig. 4~5, the vacuum cleaned mechanism 30 includes water jet flushing machine 31, floating engine Structure 32, vacuum (-tight) housing 33 and rubbery human body 34, the vacuum (-tight) housing 33 are connected with the frame 10 and positioned at the middle parts of frame 10 Lower section, the water jet flushing machine 31 are installed on the vacuum (-tight) housing 33, and the rubbery human body 34 is connected to the vacuum (-tight) housing 33 close to the bottom of vacuum (-tight) housing 33 periphery, the relocation mechanism 32 is connected to the rubbery human body 34 and the vacuum (-tight) housing 33 Top between to drive the rubbery human body 34 to move up and down.Specifically, had to during obstacle detouring can for vacuum (-tight) housing 33 Corresponding height is floated upwards to avoid clearing the jumps, then sets the relocation mechanism 32 to drive rubbery human body about 34 Float to avoid clearing the jumps, meanwhile, during rubbery human body 34 floats in realization, relocation mechanism 32 also plays always to be applied Add the power for driving rubbery human body 34 to be floated downward, so may insure to be attached to the wall of barrier or ship all the time with rubbery human body 34 On face, this manner it is also possible to ensure that vacuum (-tight) housing 33 has the environment of vacuum, to carry out vacuumizing and adsorbing.And water jet washer Structure 31 is to realize that injection High-Pressure Water is realized to derust to the wall of ship.Wherein, water jet flushing machine 31 can connect the external world The mechanism such as high-pressure water pump device (not shown), high-pressure water pump device produces high-pressure water, and the high-pressure water is passed through into water-jet Stream flushing machine 31 ejects realization derusting.
Specifically, the ship wall-climbing robot for removing rust of the utility model embodiment, when in walking process, wall is climbed in ship derusting When robot runs into barrier, driven magnet-wheel group 42 can first clear the jumps, and the rubbery human body 34 of vacuum cleaned mechanism 30 is floating To float accordingly highly, clear the jumps upwards in the presence of motivation structure 32, last active magnet-wheel group 41 clears the jumps, so as to Complete obstacle detouring.In whole process, ship wall-climbing robot for removing rust absorption wall is to rely on driven magnet-wheel group 42 and active magnet-wheel group Vacuum adsorption force collective effect realization of the absorption affinity and vacuum (-tight) housing 33 of 41 pairs of wall surfaces of ships to wall surfaces of ships.When driven magnet-wheel During 42 obstacle detouring of group, active magnet-wheel group 41 and vacuum (-tight) housing 33 provide absorption affinity;Conversely, during active magnet-wheel 41 obstacle detouring of group, driven magnet-wheel Group 42 and vacuum (-tight) housing 33 provide absorption affinity;During 33 obstacle detouring of vacuum (-tight) housing, driven magnet-wheel group 42 and active magnet-wheel group 41 provide magnetic jointly Absorption affinity.
The ship wall-climbing robot for removing rust of the utility model embodiment, by absorption walking mechanism 40 and vacuum cleaning machine Structure 30 carries out optimized design, and the adsorption capacity and obstacle climbing ability of ship wall-climbing robot for removing rust greatly improved, and enhances pair The adaptability of wall surfaces of ships, improves rust cleaning efficiency, so as to realize free of contamination derusting operation.
Meanwhile the utility model embodiment climbs wall rust removing robot, have load capacity is strong, turn to flexibly, lightweight The features such as, by carrying out modularized design to drive mechanism 20, vacuum cleaned mechanism 30 and walking adsorbing mechanism, meet it is easy, Lightweight, the demand of convenient disassembly, so as to replace the artificial cleaning device that carries to be attached to hull surface work, realize high efficiency Cleaning derusting operation.
It should be noted that vacuum (-tight) housing 33 connects the vacuum mechanism (not shown) in the external world, by vacuum mechanism to vacuum (-tight) housing 33 are vacuumized, so that vacuum (-tight) housing 33 has vacuum suction ability.For example, it can be opened up very at the top of vacuum (-tight) housing 33 Empty connected entrance 331, then connected by vacuum line (not shown) with the vacuum mechanism in the external world.
Further, with reference to shown in Fig. 6, the top of vacuum (-tight) housing 33 can also set sewage recycling mouth 332, sewage recovery Mouth 332 can connect water pumping mechanism (not shown), because the high-pressure water that water jet flushing machine 31 sprays is to the wall of ship Sewage can be produced after being derusted, then the sewage recycling mouth opened up at the top of vacuum (-tight) housing 33 is connected by the water pumping mechanism in the external world The sewage can be taken away after 332, not only realize environmental protection treatment sewage;Also there is vacuumizing effect simultaneously, i.e. further lifting Vacuumizing effect in vacuum (-tight) housing 33, it is practical.
In the present embodiment, with reference to shown in Fig. 4~6, the relocation mechanism 32 includes leather bag connector 321, some casting lug thereons 322 and some elastic components 323, wherein, casting lug thereon 322 is identical with the quantity of elastic component 323, and the rubbery human body 34 is by described Leather bag connector 321 is connected to periphery of the vacuum (-tight) housing 33 close to the bottom of vacuum (-tight) housing 33, and each casting lug thereon 322 is located at The periphery at the top of the vacuum (-tight) housing 33 and be uniformly distributed in a ring, the top of each elastic component 323 respectively with each protrusion Block 322 is corresponding to be connected, and the bottom of each elastic component 323 is fixedly connected with the leather bag connector 321.Specifically, ship is worked as When rust removing robot runs into barrier, rubbery human body 34 raises up deformation, so as to compression elastic piece 323 so that rubbery human body 34 realize floating, and then realize effective obstacle detouring upwards.More specifically, some elastic components 323 pass through some annulars of casting lug thereon 322 Being uniformly arranged, can in circumferencial direction optional position obstacle detouring in the outer circumferential side side of vacuum (-tight) housing 33, such rubbery human body 34 Corresponding opening position compression one or both of which more than elastic component 323 so that rubbery human body 34 with barrier pair The position answered is realized and floated upwards, and then realizes effective obstacle detouring.
Wherein, with reference to shown in Fig. 6, the quantity of elastic component 323 is preferably 12, is set with the position being aligned with clock time Put.Certainly, the quantity of elastic component 323 can also be for example, ten or ten first-class less than 12;The number of elastic component 323 Amount can also be unnecessary 12, for example, 15 or 16 etc..
Wherein, with reference to shown in Fig. 6, periphery of each casting lug thereon 322 in the top of vacuum (-tight) housing 33 is set with radially extending, preferably Ground, each casting lug thereon 322 are integrally formed design with vacuum (-tight) housing 33.
Preferably, elastic component 323 is spring.
In the present embodiment, with reference to shown in Fig. 6, the leather bag connector 321 includes annular collar 3211 and annular listrium 3212, the annular collar 3211 is socketed on the periphery of the vacuum (-tight) housing 33, and the annular listrium 3212 is fixed on the annular Lasso 3211 is outer and is fixed on the annular listrium 3212 with the 3211 perpendicular angle of annular collar, the rubbery human body 34 Bottom, the bottom of each elastic component 323 is fixedly connected with the top of the annular listrium 3212.Specifically, annular collar 3211 are provided for so that whole leather bag connector 321 is connected with vacuum (-tight) housing 33, with and the effect of annular listrium 3212 has been To rubbery human body 34 and annular collar 3211 is indirectly connected with, the connection of rubbery human body 34 and vacuum (-tight) housing 33 so can be achieved.Its In, annular listrium 3212 may insure annular listrium 3212 along annular collar 3211 with 3211 perpendicular angle of annular collar Side is set with radially protruding, and the casting lug thereon 322 for so allowing for annular rim plate 3212 with each relocation mechanism 32 is corresponding, such as Each elastic component 323 is connected between each casting lug thereon 322 and annular listrium 3212 by this can.Moreover, rubbery human body 34 Be connected to the bottom of annular listrium 3212 again, such rubbery human body 34 raise up deformation when, the annular listrium can be passed through Elastic components 323 more than one or two of 3212 compression correspondence positions so that rubbery human body 34 realizes upward floating, and then Realize effective obstacle detouring.
Further, with reference to shown in Fig. 5~6 and Figure 10, rubbery human body 34 includes clamping ring portion 341 and absorption edge 342, Absorption edge 342 forms substantially 90 degree of angle with clamping ring portion 341.Wherein, edge 342 is adsorbed for the wall with ship Face is bonded, and clamping ring portion 341 then forms the outside that circular round is arranged on annular collar 3211, and clamping ring portion 341 Top is connected with annular listrium 3212, can so be combined vacuum (-tight) housing 33 when vacuumizing, can be formed the space of sealing, structure It is ingenious in design, it is practical.
Preferably, with reference to shown in Fig. 6, absorption edge 342 is integrally formed and made with clamping ring portion 341.
Further, with reference to shown in Fig. 6, it is equipped with connecting hole 3221 on each casting lug thereon 322, and annular listrium 3212 are provided with lower connecting hole 3213 with each upper 3221 corresponding position of connecting hole, then the upper end of each elastic component 323 is with Corresponding with upper-lower position upper connecting hole 3221 and lower connecting block are fixedly connected respectively at end, and such elastic component 323 realizes connection Between casting lug thereon 322 and annular listrium 3212.
The design of the leather bag connector 321 of the present embodiment is very ingenious, both ensure that and has realized rubbery human body 34 and vacuum The connection of cover 33, in turn ensure that rubbery human body 34 can realize that deformation realizes floating obstacle detouring, obstacle detouring effect with compression elastic piece 323 It is splendid.
In the present embodiment, with reference to shown in Fig. 1~4, the active magnet-wheel group 41 includes the first active magnet-wheel 411 and the second master Dynamic magnet-wheel 412, the driven magnet-wheel group 42 include the first driven 421 and second driven magnet-wheel 422 of magnet-wheel, and the belt group 43 is wrapped Include the first belt 431 and the second belt 432;First belt 431 is set around the first active magnet-wheel 411 and described first Between driven magnet-wheel 421, second belt 432 is set around between the second active magnet-wheel 412 and the second driven magnet-wheel;Institute Drive mechanism 20 is stated to be connected with the first active magnet-wheel 411 and the second active magnet-wheel 412 to drive described first actively Magnet-wheel 411 and the second active magnet-wheel 412 rotate, and pass through first belt 431 and second belt 432 band respectively Move the first driven magnet-wheel 421 and the second driven magnet-wheel rotates.Specifically, when drive mechanism 20 drives the first active magnetic Wheel 411 is when the wall of ship rotates, then the first active magnet-wheel 411 drives the first driven magnet-wheel 421 by the first belt 431 Rotate;Equally, when drive mechanism 20 drives the second active magnet-wheel 412 to be rotated in the wall of ship, then the second active magnet-wheel 412 drive the second driven magnet-wheel to rotate by the second belt 432, thus realize and drive the first master simultaneously by drive mechanism 20 The rotation of dynamic the active magnet-wheel 412 of magnet-wheel 411 and second and the first driven 421 and second driven magnet-wheel 422 of magnet-wheel, ship derusting Robot is the wall walking that may be implemented in ship.
Wherein, with reference to shown in Fig. 1~3, the first active magnet-wheel 411 and the second active magnet-wheel 412 are located at the rear end of frame 10 Two side positions, and the first driven 421 and second driven magnet-wheel 422 of magnet-wheel then positioned at frame 10 front end two side positions.With From the point of view of the direction of travel of ship rust removing robot, then the left side that the first active magnet-wheel 411 and the second active magnet-wheel 412 are located behind Right both sides arrangement, and the first driven 421 and second driven magnet-wheel 422 of magnet-wheel is then arranged positioned at the left and right sides in front.Namely Say, the first active magnet-wheel 411 is symmetrical arranged with the second active magnet-wheel 412, and the first driven magnet-wheel 421 and the second driven magnet-wheel are symmetrical Set.Shape after first active magnet-wheel 411, the second active magnet-wheel 412, the first driven magnet-wheel 421, the second driven magnet-wheel sequentially connect Rectangular structure, such as square structure, and vacuum (-tight) housing 33 is located at the position of the middle of the rectangular configuration.The ship being thusly-formed The overall structure of oceangoing ship rust removing robot is more stable, is not easy to topple during moving obstacle-crossing.
Further, the first active magnet-wheel 411 of the present embodiment, the second active magnet-wheel 412, the first driven and of magnet-wheel 421 Second driven magnet-wheel manufactures to be formed by permanent magnet.That is, the first active magnet-wheel 411 of the present embodiment, the second active magnetic The overall structure of the 412, first driven 421 and second driven magnet-wheel of magnet-wheel of wheel is magnetic texure, this spline structure first actively The absorption of magnet-wheel 411, the second active magnet-wheel 412, the first driven 421 and second driven magnet-wheel of magnet-wheel in the wall formation of ship Power is more preferably.
Further, the first active magnet-wheel 411 of the present embodiment, the second active magnet-wheel 412, the first driven magnet-wheel 421 Soft magnetism set (not shown) is equipped with the outer peripheral edge of the second driven magnet-wheel, i.e. soft magnetism set is coated on the first active magnet-wheel 411, second The outer peripheral edge of active magnet-wheel 412, the first driven 421 and second driven magnet-wheel of magnet-wheel, such ship rust removing robot are passed by shape Cheng Zhong, it can increase and the frictional force of wall surfaces of ships and farthest reduce the first active magnet-wheel 411, the second active magnet-wheel 412nd, magnetic attenuation degree of the first driven 421 and second driven magnet-wheel of magnet-wheel to wall surfaces of ships, moreover it is possible to buffered from obstacle detouring Effect, it is implemented in combination with strengthening obstacle climbing ability with vacuum (-tight) housing 33.
In the present embodiment, with reference to shown in Fig. 1~4 and Figure 11, the absorption walking mechanism 40 also includes strainer 44, institute Stating strainer 44 includes the first nutted rod 441 and the second nutted rod 442, and first nutted rod 441 is installed on the frame 10 close to first belt 431 sidepiece, and first nutted rod 441 extends to first belt 431 positioned at described Bottom between first active magnet-wheel 411 and the first driven magnet-wheel 421 simultaneously applies upward pre- to first belt 431 Clamp force;Second nutted rod 442 is installed on sidepiece of the frame 10 close to second belt 432, and described second Tight bar 442 extends to bottom of second belt 432 between the second active magnet-wheel 412 and the second driven magnet-wheel Portion simultaneously applies upward pretightning force to second belt 432.Specifically, the first nutted rod 441 is fixed on the side of frame 10, And support the first belt 431 and up tighten, so as to which the first belt 431 is applied with upward pretightning force, such first belt 431 can With tightly around being located between the first active magnet-wheel 411 and the first driven magnet-wheel 421, it is ensured that rotated in the first active magnet-wheel 411 When, drive the first driven magnet-wheel 421 to rotate by the power tightened of the first belt 431;Similarly, the second nutted rod 442 is equally The side of frame 10 is fixed on, position supports second with the first nutted rod 441 corresponding (left and right is corresponding), the second nutted rod 442 Belt 432 is up tightened, so as to which the second belt 432 is applied with upward pretightning force, such second belt 432 can tightly around It is located between the second active magnet-wheel 412 and the second driven magnet-wheel, it is ensured that when the second active magnet-wheel 412 rotates, pass through the second skin The second driven magnet-wheel is driven to rotate with 432 power tightened.
In the present embodiment, with reference to shown in Fig. 1~4 and Figure 11, the strainer 44 includes the first installing plate 443 and second Installing plate 444, first installing plate 443 are installed on the frame 10 close to the sidepiece of first belt 431 and along vertical Direction is arranged, some first tension adjustment holes 4431 being arranged in a vertical direction are offered on first installing plate 443, described First nutted rod 441 is fixed on the wherein 1 first tension adjustment hole 4431;Second installing plate 444 is installed on described Frame 10 close to second belt 432 sidepiece and be arranged in a vertical direction, offered on second installing plate 444 along perpendicular For Nogata to some second tension adjustment holes 4441 of arrangement, second nutted rod 442 is fixed on wherein 1 second tension force On adjustment hole 4441.Specifically, strainer 44 includes the first nutted rod 441 and the second nutted rod 442 and the first installing plate 443 and second installing plate 444 form.First nutted rod 441 and the second nutted rod 442 can be distinguished according to tensioning degree demand The different height and position on the first installing plate 443 and the second installing plate 444.
More specifically, with reference to shown in Figure 11, the first installing plate 443 in vertical distribution due to setting and in the first installing plate 443 are provided with several vertical spaced apart the first tension adjustment holes 4431, so when by the first nutted rod 441 respectively at not When level first tension adjustment hole 4431 is fixedly connected, the first nutted rod 441 is then in different height and positions.Work as needs When applying larger pretightning force to the first belt 431, then the first nutted rod 441 and the first higher tension force of position can be adjusted Knothole 4431 is fixedly connected, and such first belt 431 can be stretched even tauter;It is less pre- when needing to apply the first belt 431 During clamp force, then the first nutted rod 441 first tension adjustment hole 4431 relatively low with position can be fixedly connected with, such first Belt 431 is then set with looser state, and such first belt 431 can stretch tight more loose.
More specifically, with reference to shown in Figure 11, the second installing plate 444 in vertical distribution due to setting and in the second installing plate 444 are provided with several vertical spaced apart the second tension adjustment holes 4441, so when by the second nutted rod 442 respectively at not When level first tension adjustment hole 4431 is fixedly connected, the second nutted rod 442 is then in different height and positions.Work as needs When applying larger pretightning force to the second belt 432, then the second nutted rod 442 and the second higher tension force of position can be adjusted Knothole 4441 is fixedly connected, and such second belt 432 can be stretched even tauter;It is less pre- when needing to apply the second belt 432 During clamp force, then the second nutted rod 442 second tension adjustment hole 4441 relatively low with position can be fixedly connected with, such second Belt 432 is then set with looser state, and such second belt 432 can stretch tight more loose.
In the present embodiment, with reference to shown in Fig. 1~4, the drive mechanism 20 includes the first motor 21, the second motor 22, the One driving shaft 23, the second driving shaft 24, first driven shaft 25, second driven shaft 26, first driving shaft 23 and described second Driving shaft 24 is rotatably installed on the both sides of the rear end of frame 10 respectively, the first driven shaft 25 and described second driven Axle 26 is rotatably installed on the both sides of the front end of frame 10, the main shaft of first motor 21 and the described first active respectively The drive connection of axle 23, the main shaft of second motor 22 and the drive connection of the second driving shaft 24;The first active magnet-wheel 411 are connected with first driving shaft 23, and the second active magnet-wheel 412 is connected with second driving shaft 24, and described first Driven magnet-wheel 421 is connected with the first driven shaft 25, and the second driven magnet-wheel 422 is connected with the second driven shaft 26. Specifically, the rotation of the first active magnet-wheel 411 drives the first driving shaft 23 to drive by the first motor 21, the second active magnet-wheel 412 Rotation then drive the second driving shaft 24 to drive by the second motor 22.The rotating speed of such first active magnet-wheel 411 and second is actively The rotating speed of magnet-wheel 412 can be the same or different.When the direction of travel of ship rust removing robot is straight line, then pass through One motor 21 and the second motor 22 drive the first active magnet-wheel 411 and the second active magnet-wheel 412 with identical rotational speed respectively; When the direction of travel of ship rust removing robot is curve, such as turn, then divided by the first motor 21 and the second motor 22 The first active magnet-wheel 411 and the second active magnet-wheel 412 are not driven with different rotational speeds, then the He of the first active magnet-wheel 411 Differential is produced between second active magnet-wheel 412, it is reasonable in design so as to realize curved path walking, it can be ensured that ship removes Become rusty robot can either straight line moving, the enough curved path walkings of and can are extremely strong to the adaptive capability on wall surface of ship.
Further, the rotation connection of first driving shaft 23 and second driving shaft 24 and the frame 10 can be with Realized by way of bearing (not shown) is set, similarly, the first driven shaft 25 and the second driven shaft 26 with it is described The rotation connection mode of frame 10 can be realized by way of setting bearing (not shown).
In the present embodiment, with reference to shown in Fig. 1~4, the drive mechanism 20 also includes the first decelerator 27 and second and slowed down Device 28, first decelerator 27 are connected between the main shaft of first motor 21 and first driving shaft 23, and described Two decelerators 28 are connected between the main shaft of second motor 22 and second driving shaft 24.Specifically, the first decelerator 27 effect is to change the spindle drive of the first motor 21 to the rotating speed of the first driving shaft 23, and the first active magnet-wheel is controlled to realize 411 underdrives;Similarly, the effect of the second decelerator 28 is the spindle drive for changing the second motor 22 to the second driving shaft 24 Rotating speed, to realize the underdrive of the second active magnet-wheel 412.So it is easy to so that the first active magnet-wheel 411 and the second active magnet-wheel Differential is formed between 412, it is convenient to control the route that ship rust removing robot is turned or walking is bent so that ship scaling machine The walking of people is very flexible, and wall surfaces of ships adaptability is superpower.
Wherein, first decelerator 27 can be connected with first driving shaft 23 by even draft gage (not shown) driving Connect, similarly, second decelerator 28 can pass through even draft gage (not shown) drive connection with second driving shaft 24.
Preferably, the first decelerator 27 and the second decelerator 28 use harmonic speed reducer.
In the present embodiment, with reference to shown in Fig. 4 and Fig. 9, the frame 10 includes the first transverse tube 11, the second transverse tube 12, first Side lever 13, the second side lever 14 and fixed support 15, first transverse tube 11 and the arranged for interval of the second transverse tube 12 and described the One transverse tube 11 is located at the top of the vacuum (-tight) housing 33, and first side lever 13 is fixedly connected on the first side of first transverse tube 11 Between the first side of second transverse tube 12, second side lever 14 be fixedly connected on the second side of second transverse tube 12 with Between second side of second transverse tube 12.Specifically, the first transverse tube 11, the second transverse tube 12, the first side lever 13 and second are passed through Side lever 14 substantially forms the frame 10 of rectangle mechanism in terms of overlook direction after connecting, and the main function of fixed support 15 is by vacuum Cover 33 is achieved a fixed connection with frame 10, then whole vacuum cleaned mechanism 30 is also realized in frame 10, and vacuum is clear Washing machine structure 30 is located at the medium position of whole frame 10.Wherein, the both ends of the first transverse tube 11 can set the first montant 16 respectively With the second montant 17, realized and connected with the first side lever 13 and the second side lever 14 respectively by the montant 17 of the first montant 16 and second Connect, can so cause the height of the first transverse tube 11 to be higher than the height of the second transverse tube 12.So as to for positioned at the lower section of the first transverse tube 11 The setting of vacuum (-tight) housing 33 provide space.
Preferably, fixed support 15 is two, and two fixed supports 15 are arranged side by side.
Further, with reference to shown in Fig. 4, the first end of first driving shaft 23 and first side lever 13, which rotates, to be connected Connect, the first end of second driving shaft 24 and second side lever 14 is rotatablely connected, the first driven shaft 25 and described the The second end rotation connection of one side lever 13, the second driven shaft 26 and the second end of second side lever 14 are rotatablely connected.Tool Body, this kind of mode sets the first driving shaft 23 and the second driving shaft 24 and the first driven 421 and second driven magnetic of magnet-wheel After wheel, then the first active magnet-wheel 411, the second active magnet-wheel 412, the first driven 421 and second driven magnet-wheel of magnet-wheel then correspond to Four corners of frame 10 in rectangular configuration are arranged on, so in 33 obstacle detouring of vacuum (-tight) housing, the first active magnet-wheel 411, second Active magnet-wheel 412, the first driven 421 and second driven magnet-wheel of magnet-wheel while the wall adsorption with ship, absorption affinity is sufficiently stable, Wall of the barrier without departing from ship is run into, load capacity is superpower, is walked so as to drive ship rust removing robot complete machine to climb wallflow.
In the present embodiment, with reference to shown in Fig. 5 and Fig. 7~8, the water jet flushing machine 31 includes spring bearing 311, rotation Rotating shaft 312 and swivel mount 313, the spring bearing 311 are fixed on the top of the vacuum (-tight) housing 33, and the rotary shaft 312 passes through The vacuum (-tight) housing 33 is simultaneously fixedly connected with the spring bearing 311, the swivel mount 313 in the vacuum (-tight) housing 33 and with institute State rotary shaft 312 to be fixedly connected, the swivel mount 313 is provided with some nozzles 314, is provided with and each institute in the swivel mount 313 The nozzle line of the connection of nozzle 314 is stated, the rotary shaft 312 is provided with the diversion pipeline 3121 connected with the nozzle line.Tool Body, the effect of spring bearing 311 is to ensure that the rotary shaft 312 for wearing vacuum (-tight) housing 33 can reduce the frictional force of rotation, and revolves Pivoted frame 313 is to be fixedly connected with rotary shaft 312, then the frictional force of the rotation of swivel mount 313 is in the presence of spring bearing 311 It can also reduce.Wherein, some nozzles 314 are preferably provided at swivel mount 313 close to the bottom of the periphery of swivel mount 313, and some The setting angle of nozzle 314 can be adjusted according to demand, such as 60 °~80 ° of angle setting is formed with horizontal plane.
The specific works of water jet flushing machine 31 are as follows:Aqueduct is switched to by pipeline by the high-pressure water in the external world Road 3121, such high-pressure water passes through diversion management at elevated pressures, then by nozzle line, is finally sprayed from each nozzle 314 Go out, realize the derusting to wall surfaces of ships.Because some nozzles 314 are arranged on swivel mount 313 close to the bottom of the periphery of swivel mount 313 Portion and angled setting, after such nozzle 314 ejects high-pressure water, the power that a driving swivel mount 313 rotates is formed, that , after being constantly passed through high-pressure water, swivel mount 313 continuously rotates.
Further, with reference to shown in Fig. 7~8, swivel mount 313 includes rotary body 3132 and some rotating arms 3133, respectively The rotating arm 3133 is to be radially arranged on rotary body 3132, and with being rotatably connected, nozzle line is opened in rotary body 3132 Rotary body 3132 with each rotating arm 3133 and connect, each rotating arm 3133 is set close to the bottom of its end At least one nozzle 314, such as each rotating arm 3133 set two, three or four close to the bottom of its end Nozzle 314 above.
Preferably, with reference to shown in Fig. 7~8, rotating arm 3133 has four, and four rotating arms 3133 form cross Frame is set.
Certainly, the utility model embodiment ship wall-climbing robot for removing rust is in addition to available for the derusting to marine surface, It can be also used for derusting work of other steel walls such as large oil tank wall, offshore drilling platform etc. etc..Wall is climbed in ship derusting Robot can also carry other equipment such as detection device and creep in the completion relevant work of steel wall.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

  1. A kind of 1. ship wall-climbing robot for removing rust, it is characterised in that:Including frame, drive mechanism, vacuum cleaned mechanism and absorption Walking mechanism;
    The absorption walking mechanism includes being installed on active magnet-wheel group and driven magnet-wheel group and the winding of the sidepiece of the frame Belt group between the active magnet-wheel group and the driven magnet-wheel group;
    The drive mechanism is connected with the active magnet-wheel group to drive the active magnet-wheel group to rotate, and passes through the belt group The driven magnet-wheel group is driven to rotate;
    The vacuum cleaned mechanism includes water jet flushing machine, relocation mechanism, vacuum (-tight) housing and rubbery human body, the vacuum (-tight) housing with The frame is connected and is located at the lower section of the central rack, and the water jet flushing machine is installed on the vacuum (-tight) housing, institute State rubbery human body and be connected to periphery of the vacuum (-tight) housing close to the vacuum (-tight) housing bottom, the relocation mechanism is connected to the rubber To drive the rubbery human body to move up and down between the top of leather bag and the vacuum (-tight) housing.
  2. 2. ship wall-climbing robot for removing rust according to claim 1, it is characterised in that:The relocation mechanism connects including leather bag Fitting, some casting lug thereons and some elastic components, the rubbery human body are connected to the vacuum (-tight) housing by the leather bag connector and leaned on The periphery of the nearly vacuum (-tight) housing bottom, periphery of each casting lug thereon at the top of the vacuum (-tight) housing and is uniformly distributed in a ring, The top of each elastic component is corresponding with each casting lug thereon respectively to be connected, and the bottom of each elastic component is connected with the leather bag Part is fixedly connected.
  3. 3. ship wall-climbing robot for removing rust according to claim 2, it is characterised in that:The leather bag connector includes annular Lasso and annular listrium, the annular collar are socketed on the periphery of the vacuum (-tight) housing, and the annular listrium is fixed on the annular Lasso it is outer and with the perpendicular angle of the annular collar, the rubbery human body is fixed on the bottom of the annular listrium, each described The bottom of elastic component at the top of the annular listrium with being fixedly connected.
  4. 4. the ship wall-climbing robot for removing rust according to any one of claims 1 to 3, it is characterised in that:The active magnet-wheel Group includes the first active magnet-wheel and the second active magnet-wheel, and the driven magnet-wheel group includes the first driven magnet-wheel and the second driven magnetic Wheel, the belt group include the first belt and the second belt;
    First belt is set around between the first active magnet-wheel and the first driven magnet-wheel, the second belt winding Between the second active magnet-wheel and the second driven magnet-wheel;
    The drive mechanism is connected with the first active magnet-wheel and the second active magnet-wheel to drive first active magnetic Wheel and the second active magnetic wheel rotate, and are driven respectively by first belt and second belt described first driven Magnet-wheel and the second driven magnet-wheel rotate.
  5. 5. ship wall-climbing robot for removing rust according to claim 4, it is characterised in that:The absorption walking mechanism also includes Strainer, the strainer include the first nutted rod and the second nutted rod, and first nutted rod is installed on the frame Close to the sidepiece of first belt, and first nutted rod extends to first belt and is located at the first active magnet-wheel Bottom and the pretightning force upward to first belt application between the described first driven magnet-wheel;The second nutted rod peace Sidepiece loaded on the frame close to second belt, and second nutted rod extends to second belt positioned at described Bottom and the pretightning force upward to second belt application between second active magnet-wheel and the second driven magnet-wheel.
  6. 6. ship wall-climbing robot for removing rust according to claim 5, it is characterised in that:The strainer includes the first peace Loading board and the second installing plate, first installing plate are installed on the frame close to the sidepiece of first belt and along vertical sides To arrangement, some first tension adjustment holes being arranged in a vertical direction, first tensioning are offered on first installing plate Bar is fixed on the wherein 1 first tension adjustment hole;Second installing plate is installed on the frame close to second skin The sidepiece of band and it is arranged in a vertical direction, some second tension force being arranged in a vertical direction is offered on second installing plate and are adjusted Knothole, second nutted rod are fixed on the wherein 1 second tension adjustment hole.
  7. 7. ship wall-climbing robot for removing rust according to claim 4, it is characterised in that:The drive mechanism includes the first electricity Machine, the second motor, the first driving shaft, the second driving shaft, first driven shaft, second driven shaft, first driving shaft and described Second driving shaft is rotatably installed on the both sides of the frame rear end, the first driven shaft and the second driven shaft respectively The both sides of the frame front end are rotatably installed on respectively, and the main shaft of first motor connects with first driving shaft driving Connect, the main shaft of second motor and the second driving shaft drive connection;
    The first active magnet-wheel and the first active axis connection, the second active magnet-wheel connect with second driving shaft Connect, the first driven magnet-wheel is connected with the first driven shaft, and the second driven magnet-wheel is connected with the second driven shaft.
  8. 8. ship wall-climbing robot for removing rust according to claim 7, it is characterised in that:The drive mechanism also includes first Decelerator and the second decelerator, first decelerator be connected to the main shaft of first motor and first driving shaft it Between, second decelerator is connected between the main shaft of second motor and second driving shaft.
  9. 9. ship wall-climbing robot for removing rust according to claim 7, it is characterised in that:The frame include the first transverse tube, Second transverse tube, the first side lever, the second side lever and fixed support, first transverse tube and the second transverse tube arranged for interval and described First transverse tube is located at the top of the vacuum (-tight) housing, first side lever be fixedly connected on the first side of first transverse tube with it is described Between first side of the second transverse tube, second side lever is fixedly connected on the second side of second transverse tube and second transverse tube The second side between;
    The first end of first driving shaft and first side lever is rotatablely connected, second driving shaft and second side lever First end rotation connection, the second end of the first driven shaft and first side lever is rotatablely connected, the second driven shaft It is rotatablely connected with the second end of second side lever.
  10. 10. the ship wall-climbing robot for removing rust according to any one of claims 1 to 3, it is characterised in that:The water jet punching Washing machine structure includes spring bearing, rotary shaft and swivel mount, and the spring bearing is fixed on the top of the vacuum (-tight) housing, the rotation Axle through the vacuum (-tight) housing and being fixedly connected with the spring bearing, the swivel mount in the vacuum (-tight) housing and with the rotation Rotating shaft is fixedly connected, and the swivel mount is provided with some nozzles, and the nozzle connected with each nozzle is provided with the swivel mount Pipeline, the rotary shaft are provided with the diversion pipeline connected with the nozzle line.
CN201720516654.9U 2017-05-10 2017-05-10 Ship wall-climbing robot for removing rust CN206781910U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720516654.9U CN206781910U (en) 2017-05-10 2017-05-10 Ship wall-climbing robot for removing rust

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720516654.9U CN206781910U (en) 2017-05-10 2017-05-10 Ship wall-climbing robot for removing rust

Publications (1)

Publication Number Publication Date
CN206781910U true CN206781910U (en) 2017-12-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720516654.9U CN206781910U (en) 2017-05-10 2017-05-10 Ship wall-climbing robot for removing rust

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Country Link
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108340285A (en) * 2018-02-11 2018-07-31 哈尔滨工业大学 A kind of compressed air shotblasting machine
CN109623179A (en) * 2019-02-18 2019-04-16 湖北三江航天红阳机电有限公司 A kind of laser welding head shield
CN110901786A (en) * 2019-12-11 2020-03-24 王从众 High obstacle-surmounting capability wall-climbing robot for ship rust removal
CN110949637A (en) * 2019-12-16 2020-04-03 上海宝冶工程技术有限公司 Ship body paint removing robot device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108340285A (en) * 2018-02-11 2018-07-31 哈尔滨工业大学 A kind of compressed air shotblasting machine
CN109623179A (en) * 2019-02-18 2019-04-16 湖北三江航天红阳机电有限公司 A kind of laser welding head shield
CN110901786A (en) * 2019-12-11 2020-03-24 王从众 High obstacle-surmounting capability wall-climbing robot for ship rust removal
CN110949637A (en) * 2019-12-16 2020-04-03 上海宝冶工程技术有限公司 Ship body paint removing robot device

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