CN206899250U - One kind climbs wall rust removing robot - Google Patents
One kind climbs wall rust removing robot Download PDFInfo
- Publication number
- CN206899250U CN206899250U CN201720830869.8U CN201720830869U CN206899250U CN 206899250 U CN206899250 U CN 206899250U CN 201720830869 U CN201720830869 U CN 201720830869U CN 206899250 U CN206899250 U CN 206899250U
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- CN
- China
- Prior art keywords
- decelerator
- tensioning wheel
- cleaning disk
- robot
- reduction gearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model provides one kind and climbs wall rust removing robot, for ship, the derusting cleaning on large-sized steel container tank surface.Described robot includes walking mechanism, adsorbing mechanism, drive mechanism and remote control system, described walking mechanism includes belt, driving wheel, universal wheel, described adsorbing mechanism mainly by permanent magnet group into, described drive mechanism includes motor, decelerator and worm type of reduction gearing, and described remote control system includes image delivering system and remote control system.Described robot is vertically adsorbed by adsorbing mechanism on work wall, and by decelerator and worm type of reduction gearing driving driving wheel walking, the effect of remote control system is detection operation effect and to be controlled in real time at a distance motor.The utility model has the advantages of easy to operate, operating efficiency is high.
Description
Technical field
It the utility model is related to one kind and climb wall rust removing robot, particularly one kind climbs wall scaling machine for permanent magnetic adsorption-type
People.
Background technology
In the derusting of ship, tun tank such as cleans at the maintenance work, a people or more people are usually required during operation
Coordinate, not only operating efficiency is low, entreprise cost is high, and for operating personnel, work situation is badly dangerous.And climb wall machine
Device people, which can substitute, is accomplished manually above-mentioned dangerous operation, and operating efficiency is high, compares manual work, and entreprise cost substantially reduces, because
This climbs wall rust removing robot and had been to be concerned by more and more people.
The content of the invention
The purpose of this utility model is that providing one kind climbs wall rust removing robot, for ship, large-sized steel container tank table
The derusting cleaning in face, the particular content of technical solutions of the utility model are as follows：
The utility model includes installing plate, motor, decelerator, decelerator flange, worm type of reduction gearing, big tensioning
Wheel, driving wheel, small tensioning wheel, tensioning wheel mounting rod, high-pressure water pipe, three-way connection, adpting flange, support frame, mounting seat, skin
Band, support bar, universal wheel, safety pole chaining part, permanent magnet, breather valve, safety pole, breathe out hand controller, cleaning disk, shooting epicranial plate with
And camera.
Described worm type of reduction gearing is arranged between two pieces of installing plates, and decelerator is arranged on snail by decelerator flange
On worm and gear decelerator；For described driving wheel by breathing out hand controller on worm type of reduction gearing output shaft, motor is defeated
Go out moment of torsion drives Kazakhstan hand controller finally to drive driving wheel to work after decelerator, worm type of reduction gearing double reduction.
Described cleaning disk is connected by mounting seat, adpting flange and support bar, and support bar is used as whole machine simultaneously
The support frame of people, it is locked with installing plate；Described universal wheel is connected by support frame with cleaning disk, and three-way connection passes through connection
Flange links together with support frame.
Described permanent magnet is arranged on worm type of reduction gearing bottom by fot screw；Described camera passes through shooting
Epicranial plate is above cleaning disk upper plate；Described big tensioning wheel is arranged on driving wheel, and small tensioning wheel is pacified installed in tensioning wheel
Fill on bar, tensioning wheel mounting rod is installed on a mounting board；Described belt is on big tensioning wheel, small tensioning wheel；Described
Support bar is connected with safety pole by safety pole chaining part；Described breather valve is connected with cleaning disk upper plate；Water under high pressure passes through height
The circulator shower nozzle that pressure pipe enters in cleaning disk.
Furtherly, clean on disk and be provided with two vacuum outlets, vacuum can be carried out to post-job waste water and dregs and taken out
Suck back receipts.
Furtherly, cleaning disk lower weld has the barrier structure excessively of ring-type.
Furtherly, breather valve is used to adjust the vacuum in cleaning disk, reaches the best effort shape of regulation vacuum system
The operation of state.
The beneficial effects of the utility model：
1. wall rust removing robot cleaning disk lower weld described in the utility model of climbing has the barrier structure excessively of ring-type, improve
The obstacle climbing ability of robot, it is effectively improved the transaction capabilities of robot.
2. described in the utility model climb on wall rust removing robot is equipped with camera, operating worker passes through thecamera head
Real work effect is observed on to the telecontrol panel with video real-time display, and then is capable of deciding whether to need to increase the work
Make the working time in region.
3. the vacuum described in the utility model climbed breather valve on wall rust removing robot and be used in regulation cleaning disk, reaches
Adjust the operation of the optimum Working of vacuum system.
4. wall rust removing robot described in the utility model of climbing carries out communtation deceleration by using worm type of reduction gearing, make
Obtaining motor installation can be vertical with driving wheel axis, so as to reduce driving wheel axial length, reduces robot entirety
Size, reduce robot total quality.
Brief description of the drawings
Fig. 1 is the bulk junction composition for climbing wall rust removing robot；
Fig. 2 is the top view for climbing wall rust removing robot；
Fig. 3 is the side view for climbing wall rust removing robot；
In figure：1- installing plates, 2- sealing plates, 3- motors, 4- decelerators, 5- decelerator flanges, 6- worm and gears subtract
Fast device, the big tensioning wheels of 7-, 8- driving wheels, the small tensioning wheels of 9-, 10- tensioning wheel mounting rods, 11- high-pressure water pipes, 12- three-way connections,
13- adpting flanges, 14- support frames, 15- mounting seats, 16- cleaning disk upper plates, 17- belts, 18- support bars, 19- universal wheels,
20- seals hairbrush, 21- safety pole chaining parts, 22- permanent magnets, 23- breather valves, 24- vacuum adapters, 25- safety poles, 26- Kazakhstan bar
Head, 27- cross barrier structure, 28- cleaning disks, 29- shooting epicranial plates, 30- cameras.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1-Figure 3, one kind climbs wall rust removing robot, its mainly include installing plate 1, sealing plate 2, motor 3,
Decelerator 4, decelerator flange 5, worm type of reduction gearing 6, big tensioning wheel 7, driving wheel 8, small tensioning wheel 9, tensioning wheel mounting rod
10th, high-pressure water pipe 11, three-way connection 12, adpting flange 13, support frame 14, mounting seat 15, cleaning disk upper plate 16, belt 17,
Support bar 18, universal wheel 19, sealing hairbrush 20, safety pole chaining part 21, permanent magnet 22, breather valve 23, vacuum adapter 24, safety
Bar 25, breathe out hand controller 26, cross barrier structure 27, cleaning disk 28, shooting epicranial plate 29 and camera 30 etc..Described worm and gear subtracts
For fast device 6 by screw between two pieces of installing plates 1, decelerator 4 is arranged on worm type of reduction gearing by decelerator flange 5
On 6；Described driving wheel 8 is by breathing out hand controller 26 on the output shaft of worm type of reduction gearing 6, the output torque of motor 3
Driving Kazakhstan hand controller 26 finally drives driving wheel 8 to work after decelerator 4, the double reduction of worm type of reduction gearing 6.Described is clear
Dishwashing 28 is connected by mounting seat 15, adpting flange 13 with support bar 18, support bar 18 while the branch as whole robot
Support bone frame, it is locked by screw with installing plate 1.Described universal wheel 19 is connected by support frame 14 with cleaning disk 28, and three connect
First 12 are linked together by adpting flange 13 and support frame 14；Described permanent magnet 22 is arranged on worm gear snail by fot screw
The bottom of bar decelerator 6；Described camera 30 is by imaging epicranial plate 29 above the cleaning upper plate of disk 28；Described big tensioning
Wheel 7 is arranged on driving wheel 1, and small tensioning wheel 9 is arranged on tensioning wheel mounting rod 10, and tensioning wheel mounting rod 10 is arranged on installing plate
On 1；Described belt 17 is on big tensioning wheel 7, small tensioning wheel 9；Described support bar 18 passes through safety with safety pole 25
Bar chain fitting 21 connects；Described breather valve 23, vacuum adapter 24 and cleaning disk upper plate 16 are connected through a screw thread；Described high pressure
Water enters circulator shower nozzle by high-pressure water pipe 11.
Water under high pressure in the present embodiment is entered in rotary nozzle by high-pressure water pipe carries out operation, cleans on disk and is provided with two
Vacuum outlet, its role is to can carry out vacuum suction recovery to post-job waste water and dregs.
The present embodiment is in order to improve obstacle climbing ability, and cleaning disk lower weld has the barrier structure excessively of ring-type, so as to effectively carry
The transaction capabilities of Gao Liao robots.
The present embodiment is equipped with camera, and operating worker is by thecamera head to the remote control with video real-time display
Real work effect is observed on panel, and then judges whether to need the working time for increasing the working region.
Method of work of the present utility model comprises the following steps：
A, robot advance process：Robot is bonded by permanent magnet 22 with the deck of boat, and operator passes through wireless remote on ground
Control device sends advancement commands to motor 3, after the double reduction of decelerator 4 and worm type of reduction gearing 6, driving electricity
The moment of torsion of machine 3, which is delivered on driving wheel 8, makes robot advance.Robot runs into barrier when advancing, due to installed in cleaning disk
The barrier structure 27 of crossing of 28 lower sections is cyclic structure, and the relative cleaning disk 28 of the structure crosses barrier ability with good, so as to effectively
Improve obstacle climbing ability when barrier is crossed by robot.
B, robot derusting and vacuum conditions process：Water under high pressure is entered in cleaning disk 28 via high-pressure water pipe 11
The nozzle in portion, then penetrated in nozzle end in jet-state and treating operation surface progress operation, the waste water and dregs after work are reclaiming
Recovery system is recovered to via vacuum adapter 24 by three-way connection 12 in the presence of system.During recovery system operation, operator
Change the vacuum size in cleaning disk 28 by adjusting breather valve 23 to select the optimal vacuum pressure of recovery system.
Claims (3)
1. one kind climbs wall rust removing robot, including installing plate, motor, decelerator, decelerator flange, worm and gear slow down
Device, big tensioning wheel, driving wheel, small tensioning wheel, tensioning wheel mounting rod, high-pressure water pipe, three-way connection, adpting flange, support frame, peace
Dress base, belt, support bar, universal wheel, safety pole chaining part, permanent magnet, breather valve, safety pole, breathe out hand controller, cleaning disk, take the photograph
As epicranial plate and camera, it is characterised in that：
Described worm type of reduction gearing is arranged between two pieces of installing plates, and decelerator is arranged on worm gear snail by decelerator flange
On bar decelerator；Described driving wheel by breathing out hand controller on worm type of reduction gearing output shaft, turn round by motor output
Square drives Kazakhstan hand controller finally to drive driving wheel to work after decelerator, worm type of reduction gearing double reduction；
Described cleaning disk is connected by mounting seat, adpting flange and support bar, and support bar is simultaneously as whole robot
Support frame, it is locked with installing plate；Described universal wheel is connected by support frame with cleaning disk, and three-way connection passes through adpting flange
Linked together with support frame；
Described permanent magnet is arranged on worm type of reduction gearing bottom by fot screw；Described camera is by imaging skull
Plate is above cleaning disk upper plate；Described big tensioning wheel is arranged on driving wheel, and small tensioning wheel is arranged on tensioning wheel mounting rod
On, tensioning wheel mounting rod is installed on a mounting board；Described belt is on big tensioning wheel, small tensioning wheel；Described support
Bar is connected with safety pole by safety pole chaining part；Described breather valve is connected with cleaning disk upper plate；Water under high pressure passes through water under high pressure
The circulator shower nozzle that pipe enters in cleaning disk.
2. according to claim 1 climb wall rust removing robot, it is characterised in that：Two vacuum are provided with cleaning disk to go out
Mouthful, vacuum suction recovery can be carried out to post-job waste water and dregs.
3. according to claim 1 climb wall rust removing robot, it is characterised in that：Cleaning disk lower weld has crossing for ring-type to hinder
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720830869.8U CN206899250U (en) | 2017-07-11 | 2017-07-11 | One kind climbs wall rust removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720830869.8U CN206899250U (en) | 2017-07-11 | 2017-07-11 | One kind climbs wall rust removing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206899250U true CN206899250U (en) | 2018-01-19 |
Family
ID=61311642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720830869.8U Expired - Fee Related CN206899250U (en) | 2017-07-11 | 2017-07-11 | One kind climbs wall rust removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206899250U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443392A (en) * | 2017-07-11 | 2017-12-08 | 浙江大学 | Climb wall rust removing robot |
| CN110142786A (en) * | 2019-06-25 | 2019-08-20 | 北京史河科技有限公司 | Cleaning plant and cleaning robot |
| CN111516771A (en) * | 2020-03-31 | 2020-08-11 | 中信重工机械股份有限公司 | Magnetic wall climbing equipment for ship cleaning |
| CN111516772A (en) * | 2020-03-31 | 2020-08-11 | 中信重工机械股份有限公司 | Swing arm type magnetic wall-climbing robot for ship cleaning |
| US20210048327A1 (en) * | 2019-08-13 | 2021-02-18 | Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision | Wall-climbing robot for measuring capacity of vertical metal tanks |
| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
-
2017
- 2017-07-11 CN CN201720830869.8U patent/CN206899250U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443392A (en) * | 2017-07-11 | 2017-12-08 | 浙江大学 | Climb wall rust removing robot |
| CN110142786A (en) * | 2019-06-25 | 2019-08-20 | 北京史河科技有限公司 | Cleaning plant and cleaning robot |
| US20210048327A1 (en) * | 2019-08-13 | 2021-02-18 | Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision | Wall-climbing robot for measuring capacity of vertical metal tanks |
| US11906342B2 (en) * | 2019-08-13 | 2024-02-20 | Zhoushan Institute Of Calibration And Testing For Quality And Technology Supervision | Wall-climbing robot for measuring capacity of vertical metal tanks |
| CN111516771A (en) * | 2020-03-31 | 2020-08-11 | 中信重工机械股份有限公司 | Magnetic wall climbing equipment for ship cleaning |
| CN111516772A (en) * | 2020-03-31 | 2020-08-11 | 中信重工机械股份有限公司 | Swing arm type magnetic wall-climbing robot for ship cleaning |
| CN113799889A (en) * | 2021-10-20 | 2021-12-17 | 中信重工机械股份有限公司 | Ship cleaning magnetic wall-climbing robot suitable for complex curved surface |
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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: 20180119 Termination date: 20210711 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |