CN207931951U - A kind of ship rust removing robot of more suction type fusions - Google Patents
A kind of ship rust removing robot of more suction type fusions Download PDFInfo
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- CN207931951U CN207931951U CN201820274941.8U CN201820274941U CN207931951U CN 207931951 U CN207931951 U CN 207931951U CN 201820274941 U CN201820274941 U CN 201820274941U CN 207931951 U CN207931951 U CN 207931951U
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Abstract
A kind of ship rust removing robot of more suction type fusions,Including this body support frame and it is installed on the driving mechanism of this body support frame,Derusting mechanism,Adsorbing mechanism,The driving mechanism is for driving this body support frame to be moved,The derusting mechanism to marine surface for carrying out polishing processing of rust removing,The derusting mechanism includes polishing chamber,Set on the polishing unit of polishing chamber,The adsorbing mechanism includes the crawler belt being installed in driving mechanism,The universal wheel mechanism being installed on this body support frame,And the air draft pipe being connected to polishing chamber,Anti-skidding muscle is equipped on the outside of crawler belt,Each anti-skidding muscle is internally provided with a permanent magnetic suck unit,Hull surface is adsorbed on by robot to the magnetic force of hull surface by permanent magnetic suck unit,The universal wheel mechanism includes sequentially connected buffer from top to bottom,Electromagnet and universal wheel,Polishing intracavitary is set to generate negative pressure to provide certain adsorption capacity when air draft pipe exhausting.The utility model solves the problems, such as absorption failure by the fusion of more suction types.
Description
Technical field
The utility model is related to ship derusting technical field, the ship scaling machine of specifically a kind of more suction types fusions
People.
Background technology
Ship derusting is must working for ship time-based maintenance, needs the oxide, used paint layer, ocean to marine surface attached
It object to be removed, and checks ship surface abrasion oxidization condition, ensure navigation safety.
Chinese patent (publication number：105035202 A of CN) a kind of ship wall-climbing robot for removing rust is disclosed comprising cleaning
Disk, the crawler belt contacted with wall surfaces of ships, drive component, the driven floatation element with driven wheel, peace drive cleaning disk with respect to ship
The floating connection component and provide precompression to compress holding down assembly for crawler belt that oceangoing ship wall surface moves up and down automatically.The ship derusts
Climbing robot drives driving wheel to drive driven wheel to move using actuator, to drive crawler belt to walk on wall surfaces of ships；
When encountering barrier in walking process, cleaning disk is driven to clear the jumps using floating connection component, meanwhile, the interior drawing of crawler belt
Power increases so that centre-to-centre spacing between driving wheel and driven wheel reduces so that crawler belt is fitted closely realizes and get on wall surfaces of ships
Barrier, improves the adaptive capability on wall surface of ship wall-climbing robot for removing rust.
Above-mentioned rust removing robot is provided with excessive track tension device, the vibrations pole that robot generates in descaling process
Failure is easily caused, and permanent magnetic suck is used only in the equipment, the vibrations for the generation that works and the uneven of working surface are easily caused
Absorption failure.
Utility model content
The utility model is to provide a kind of more suction type fusions for the above problem existing for existing rust removing robot
Ship rust removing robot mainly solves the problems, such as absorption failure by the fusion of more suction types.
A kind of ship rust removing robot of more suction type fusions, it is characterised in that：Including this body support frame and it is installed on this
The driving mechanism of body support frame, derusting mechanism, adsorbing mechanism, the driving mechanism are described for driving this body support frame to be moved
Derusting mechanism is used to carry out polishing processing of rust removing to marine surface, and the derusting mechanism includes polish chamber, beating set on polishing chamber
Grind unit, the adsorbing mechanism includes the crawler belt being installed in driving mechanism, the universal wheel mechanism that is installed on this body support frame and
The air draft pipe being connected to polishing chamber, crawler belt outside are equipped with anti-skidding muscle, and each anti-skidding muscle is internally provided with a permanent magnetic suck list
Robot is adsorbed on hull surface by member by permanent magnetic suck unit to the magnetic force of hull surface, and the universal wheel mechanism includes
Sequentially connected buffer, electromagnet and universal wheel from top to bottom, when air draft pipe exhausting, make polishing intracavitary generate negative pressure to carry
For certain adsorption capacity.
Further, the permanent magnetic suck unit includes two pieces of strip strong magnets, one piece of magnetic separator and one piece of yoke,
Strong magnet and magnetic separator are placed in outside, and magnetic separator is placed in the centre of two pieces of strong magnets, and yoke is placed in inside.
Further, described body support frame include center and be installed on the universal wheel beam of center, driving beam, polishing beam, from
Driving wheel beam, driving mechanism and adsorbing mechanism are mounted on the beam of center surrounding, and the hollow space of center installs derusting mechanism, universal
Wheel mechanism is installed on universal wheel beam, and driving beam is for installing driving wheel, and driven wheel beam is for installing driven wheel, and polishing beam is for pacifying
Fill derusting mechanism.
Further, the driving beam and the driven wheel beam are divided into the front and back ends holder of center, during polishing beam is located at
The middle part of frame.
Further, center front-end bracket stretches out four short beams straight up, and in the top vertical connection of short beam four
Horizontal forward long beam, is combined into the driving beam.
Further, it is to form the driven wheel beam, follower shaft that two sections of beams are stretched out in the both sides of the center rear end support
It is separately fixed at the top of driven wheel beam.
Further, the universal wheel beam is located among four driving beams, in center front-end bracket midtread to extension
Go out a beam and form the universal wheel beam, universal wheel mechanism is installed on the top of universal wheel beam.
Further, the driving mechanism includes two driving motors, driving wheel, driven wheels, two driving motor drivings
Two driving wheels in left and right, and install retarder and fixing bearing additional between driving motor and driving wheel, crawler belt is wound on driving wheel
On driven wheel.
Further, the driving mechanism further includes strainer, and strainer includes small wheel support, is installed on steamboat branch
Two steamboats of frame both sides and the buffer set on steamboat frame bottom, crawler belt inside are equipped with induction tooth, and steamboat is induced with crawler belt
The internal track surfaces of tooth both sides are in contact, and steamboat is connect by two axis with buffer, and buffer is fixed on this body support frame upper table
Face.
Further, the derusting mechanism further includes buffer gear, and the buffer gear includes steel rope damper, angle
Iron, yielding rubber pad, steel rope damper are mounted on the side wall of this body support frame hollow region, and in the another of steel rope damper
One end is connected by angle bar with polishing chamber, and yielding rubber pad is mounted on the downside of this body support frame, is in contact with polishing chamber upper surface.
The ship rust removing robot of the utility model is adsorbed on hull surface in several ways, and derusts to hull
Work can carry out energy recharge with ground when work and waste recovery, the characteristic of robot be to be adsorbed as using permanent magnetism crawler belt
Main, the suction type supplemented by electromagnet and negative pressure ensures that robot can efficiently complete derusting operation, while improving robot
Obstacle performance, keep the traveling of robot more reliable and more stable.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the ship rust removing robot of the more suction type fusions of the utility model；
Fig. 2 is the structural schematic diagram of this body support frame in the utility model；
Fig. 3 is the structural schematic diagram of driving mechanism in the utility model；
Fig. 4 is the structural schematic diagram of strainer in the utility model；
Fig. 5 is the structural schematic diagram of derusting mechanism in the utility model；
Fig. 6 is the structural schematic diagram of derusting mechanism other direction in the utility model；
Fig. 7 is the structural schematic diagram of permanent magnetic suck unit in the utility model；
Fig. 8 is the structural schematic diagram of universal wheel mechanism in the utility model；
Fig. 9 is the side view of the utility model.
Reference numeral is described below in figure：
1-this body support frame, 2-driving mechanisms, 3-derusting mechanisms, 4-adsorbing mechanisms,
11-centers, 111-universal wheel beams, 121,122,123,124-driving beams, 131,132-polishing beams, 141,
142-driven wheel beams,
211,212-driving motor, 221,222-retarders, 231,232-driving wheels, 241,242-driven wheels,
251,252-crawler belt, 261,262-strainers, 253,255-strong magnets, 254-magnetic separator, 256-yokes, 2621,
2622-steamboats, 2623-small wheel supports, 2624-buffers,
311-polishing chamber head covers, 312-rubber rings, 313-hairbrush, 321-polishing motors, 322-connecting shafts, 323-
Polishing pad, 331-steel rope dampers, 332-angle bar, 333-yielding rubber pads,
41-buffers, 411-buffer upper covers, 412-buffer springs, 413-buffer lower covers, 42-electromagnetism
Iron, 43-universal wheels, 431-universal wheel connecting shafts, 432-universal wheel steamboats.
Specific implementation mode
Below in conjunction with the attached drawing in the utility model, the technical solution in the utility model is carried out clearly and completely
Description.
Fig. 1 show the structural schematic diagram of the ship rust removing robot of the more suction type fusions of the utility model, described more
The ship rust removing robot of suction type fusion includes this body support frame 1 and is installed on the driving mechanism 2 of this body support frame 1, rust remover
Structure 3, adsorbing mechanism 4,.
Please continue to refer to Fig. 2, described body support frame 1 includes center 11 and the universal wheel beam 111 for being installed on center 11, driving
Beam (121,122,123,124), polishing beam (131,132), driven wheel beam (141,142), wherein center 11 are block form structure,
Driving mechanism 2 and adsorbing mechanism 4 are mounted on the beam of 11 surrounding of center, and the hollow space of center 11 installs derusting mechanism 3.
The driving beam (121,122,123,124) and the driven wheel beam (141,142) are divided into the forward and backward of center 11
Holder (robot direction of advance is front end, and negative direction is rear end) is held, polishing beam (131,132) is located at the middle part of center 11.
Four driving beams (121,122,123,124) are that " 7 " font bends supporting structure, i.e. 11 front-end bracket of center is vertical
Four short beams are stretched out upwards, and in four horizontal forward long beams of the top vertical connection of short beam, are combined into driving beam.
The both sides of 11 rear end support of center stretch out two sections of beams and form the driven wheel beam (141,142), by follower shaft
It is separately fixed at the top of driven wheel beam.
Universal wheel beam 111 is located among four driving beams (121,122,123,124), i.e., at 11 front-end bracket midpoint of center
A piece beam of horizontal forward stretching forms the universal wheel beam 111, and universal wheel mechanism is installed on the top of universal wheel beam 111.
Two polishing beams (131,132) are set up on the holder of 11 left and right sides of center, and derusting mechanism 3 is installed on polishing beam
(131,132) lower end, enables 3 steady operation of derusting mechanism.
Referring to Fig. 3, the driving mechanism 2 include two driving motors (211,212), it is driving wheel (211,212), driven
Take turns (241,242) and strainer (261,262).The driving mechanism of robot is driven using two driving motors (211,212)
Two driving wheels (211,212) in left and right, and install retarder additional between driving motor (211,212) and driving wheel (211,212)
(211,212) and fixing bearing.
The driving wheel and driven wheel of the utility model use the design of double-wheel-disc, are installed additional between two wheel discs of driving wheel
One circle cross bar.Crawler belt (251,252) is on driving wheel (211,212) and driven wheel (241,242).
Referring to Fig. 4, strainer (261,262) includes small wheel support 2623, is installed on 2623 both sides of small wheel support
Two steamboats (2621,2622) and the buffer 2624 set on 2623 bottom of small wheel support.Steamboat (2621,2622) is lured with crawler belt
The internal track surfaces for leading tooth both sides are in contact (as shown in Figure 9).Steamboat is unpowered (2621,2622), only by two axis with it is slow
The connection of device 2624 is rushed, buffer 2624 is fixed on 1 upper surface of this body support frame.
Fig. 5 and Fig. 6 is please referred to, the derusting mechanism 3 includes polishing chamber, polishing unit and buffer gear three parts.
The polishing chamber includes polishing chamber head cover 311, rubber ring 312, hairbrush 313, and polishing chamber head cover 311 is cylindrical empty
Chamber, there are a circular open, no bottom surface in top center, and connects the rubber ring 312 dehisced outward, rubber ring 312 within one week on bottom edge
Bottom paste one layer of hairbrush 313.
The polishing unit includes polishing motor 321, connecting shaft 322, polishing pad 323.Polishing motor 321 is placed on polishing
The outside of chamber, and be fixed on polishing chamber head cover 311.Polishing motor 321 is connected with connecting shaft 322, and connecting shaft 322 stretches into polishing
Intracavitary portion, and polishing pad 323 is fixed in connecting shaft 322.Each derusting mechanism 3 includes that there are four units of polishing.Four are beaten
Grind the square arrangement of unit.Two polishing units close to robot front end, left side rotate clockwise, right side it is counterclockwise
Rotation；Two polishing units close to robot rear end, left side rotate counterclockwise, and right side rotates clockwise.
The buffer gear includes steel rope damper 331, angle bar 332, yielding rubber pad 333.Steel rope damper 331
Pass through angle bar 332 and polishing on the side wall of 1 hollow region of this body support frame, and in the other end of steel rope damper 331
Chamber is connected, and yielding rubber pad 333 is mounted on the downside of 1 two crossbeams of this body support frame, is in contact with polishing chamber upper surface.
The adsorbing mechanism 4 is more suction type fusion structures, and predominantly three parts structure realizes absorption jointly：It is main to inhale
Random structure is crawler belt (251,252), and auxiliary adsorbing mechanism is universal wheel mechanism, while derusting mechanism 3 also will produce at work
Certain adsorption capacity.
(1) crawler belt (permanent magnetic suck is provided)
Crawler belt (251,252) is mainly made of rubber.It is designed with induction tooth on the inside of crawler belt, has anti-skidding muscle on the outside of crawler belt.Often
There are one permanent magnetic suck units 7 (as shown in Figure 7) for the laid inside of a anti-skidding muscle, by permanent magnetic suck unit 7 to hull surface
Magnetic force robot is adsorbed on hull surface.Each permanent magnetic suck unit 7 includes two pieces of strip strong magnets 255 (such as neodymium
Iron boron strong magnet), one piece of magnetic separator 254 and one piece of yoke 256, strong magnet 255 and magnetic separator 254 be placed adjacent to outside,
Yoke 256 is placed on the centre of two pieces of strong magnets 255 close to inside, magnetic separator 254.Crawler belt (251,252) is in process
In in inside be equipped with reinforcing fibre.
(2) universal wheel mechanism (electromagnetic adsorption is provided)
As shown in figure 8, universal wheel mechanism is mounted on universal wheel beam 111, downwards successively from the lower surface of universal wheel beam 111
Buffer 41, electromagnet 42 and universal wheel 43 are installed.Electromagnet 42 selects ring electromagnet, and is fixed on the following table of buffer 41
Face, main function are different motion state one variable adsorption capacities of generation for robot, are ensureing that robot can be just
Often prevent it from toppling when breaking the barriers while work.The buffer 41 includes sequentially connected slow from top to bottom
Rush device upper cover 411, buffer spring 412, buffer lower cover 413, the universal wheel 43 include connect with electromagnet 42 it is universal
It takes turns connecting shaft 431 and is fixed on the universal wheel steamboat 432 to wheel connecting shaft 431.
(3) workpiece polishing mechanism (negative-pressure adsorption is provided)
Workpiece polishing mechanism needs to connect an air draft pipe by ground at work, and absorption concentration is carried out to polishing waste residue,
Since polishing intracavitary is more closed, exhausting will generate certain negative pressure in polishing intracavitary, that is, provide certain adsorption capacity.
The utility model outstanding feature is more suction type fusions, and robot uses three kinds of permanent magnetism, electromagnetism, negative pressure absorption
Mode, and these three suction types are merged, Coordination by planning is carried out for robot different motion state, makes robot
It advances more reliable and more stable.Robot can only rely on the permanent magnetic suck power that crawler belt is provided and be adsorbed on work when powering off static
Make surface；Advance starting when, electromagnet provides smaller adsorption capacity, while ensureing that robot can normally start to walk, avoid because
Adsorption capacity is excessive to cause driving motor to overload；When normal traveling, negative-pressure adsorption power can balance out caused by part polishing
Reaction force, at this time electromagnet larger adsorption capacity is provided, avoid robot from toppling when breaking the barriers.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
It is any to belong to those skilled in the art within the technical scope disclosed by the utility model in this, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.
Claims (10)
1. a kind of ship rust removing robot of more suction type fusions, it is characterised in that：Including this body support frame and it is installed on ontology
The driving mechanism of holder, derusting mechanism, adsorbing mechanism, the driving mechanism are described to remove for driving this body support frame to be moved
Rust mechanism is used to carry out polishing processing of rust removing to marine surface, and the derusting mechanism includes polishing chamber, set on the polishing of polishing chamber
Unit, the adsorbing mechanism includes the crawler belt being installed in driving mechanism, the universal wheel mechanism that is installed on this body support frame and with
The air draft pipe that chamber of polishing is connected to, crawler belt outside are equipped with anti-skidding muscle, and each anti-skidding muscle is internally provided with a permanent magnetic suck unit,
Hull surface is adsorbed on by robot to the magnetic force of hull surface by permanent magnetic suck unit, the universal wheel mechanism includes from upper
Sequentially connected buffer, electromagnet and universal wheel under, when air draft pipe exhausting, make polishing intracavitary generate negative pressure to provide one
Fixed adsorption capacity.
2. the ship rust removing robot of more suction type fusions as described in claim 1, it is characterised in that：The permanent magnetic suck
Unit includes two pieces of strip strong magnets, one piece of magnetic separator and one piece of yoke, and strong magnet and magnetic separator are placed in outside, every magnetic
Material is placed in the centre of two pieces of strong magnets, and yoke is placed in inside.
3. the ship rust removing robot of more suction type fusions as described in claim 1, it is characterised in that：Described body support frame
Including center and it is installed on the universal wheel beam of center, driving beam, polishing beam, driven wheel beam, driving mechanism and adsorbing mechanism installation
On the beam of center surrounding, the hollow space of center installs derusting mechanism, and universal wheel mechanism is installed on universal wheel beam, and driving beam is used
In installation driving wheel, driven wheel beam is for installing driven wheel, and polishing beam is for installing derusting mechanism.
4. the ship rust removing robot of more suction type fusions as claimed in claim 3, it is characterised in that：The driving beam and
The driven wheel beam is divided into the front and back ends holder of center, and polishing beam is located at the middle part of center.
5. the ship rust removing robot of more suction type fusions as claimed in claim 4, it is characterised in that：Center front-end bracket
Four short beams are stretched out straight up, and in four horizontal forward long beams of the top vertical connection of short beam, are combined into the drive
Dynamic beam.
6. the ship rust removing robot of more suction type fusions as claimed in claim 4, it is characterised in that：The middle back end of frame
The both sides of holder stretch out two sections of beams and form the driven wheel beam, and follower shaft is separately fixed at the top of driven wheel beam.
7. the ship rust removing robot of more suction type fusions as claimed in claim 4, it is characterised in that：The universal wheel beam
Among four driving beams, forward extends out a beam in center front-end bracket midtread and form the universal wheel beam, it is universal
The top for taking turns beam is installed by universal wheel mechanism.
8. the ship rust removing robot of more suction type fusions as described in claim 1, it is characterised in that：The driving mechanism
Including two driving motors, driving wheel, driven wheels, two driving motors driving left and right, two driving wheels, and in driving motor and
Install retarder and fixing bearing between driving wheel additional, crawler belt is on driving wheel and driven wheel.
9. the ship rust removing robot of more suction type fusions as claimed in claim 8, it is characterised in that：The driving mechanism
Further include strainer, strainer includes small wheel support, is installed on two steamboats of small wheel support both sides and is set to steamboat branch
The buffer of frame bottom, crawler belt inside are equipped with induction tooth, and steamboat is in contact with the internal track surfaces of crawler belt induction tooth both sides, steamboat
It is connect with buffer by two axis, buffer is fixed on ontology rack upper surface.
10. the ship rust removing robot of more suction type fusions as described in claim 1, it is characterised in that：The rust remover
Structure further includes buffer gear, and the buffer gear includes steel rope damper, angle bar, yielding rubber pad, steel rope damper peace
It is connected with polishing chamber by angle bar on the side wall of this body support frame hollow region, and in the other end of steel rope damper, is subtracted
It shakes rubber pad to be mounted on the downside of this body support frame, be in contact with polishing chamber upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820274941.8U CN207931951U (en) | 2018-02-27 | 2018-02-27 | A kind of ship rust removing robot of more suction type fusions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820274941.8U CN207931951U (en) | 2018-02-27 | 2018-02-27 | A kind of ship rust removing robot of more suction type fusions |
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| CN207931951U true CN207931951U (en) | 2018-10-02 |
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| CN201820274941.8U Active CN207931951U (en) | 2018-02-27 | 2018-02-27 | A kind of ship rust removing robot of more suction type fusions |
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| CN109772628A (en) * | 2019-02-27 | 2019-05-21 | 上海外高桥造船有限公司 | Safety-type spray robot |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN110405725A (en) * | 2019-08-13 | 2019-11-05 | 舟山市质量技术监督检测研究院 | A kind of climbing robot for the calibrating of vertical metal tankage size |
| CN110480496A (en) * | 2019-07-24 | 2019-11-22 | 武汉大学 | A kind of intelligence feather plucking robot |
| CN110480175A (en) * | 2019-08-16 | 2019-11-22 | 金华纳尔环保技术有限公司 | A kind of derusting device for large ship hull |
| CN111037437A (en) * | 2019-10-29 | 2020-04-21 | 浙江省海洋水产研究所 | Ship rust removal device |
| CN111216820A (en) * | 2020-02-28 | 2020-06-02 | 广州力多机器人智能科技有限公司 | Little rust cleaning robot of noise |
| CN111232151A (en) * | 2020-01-16 | 2020-06-05 | 中国海洋大学 | Negative pressure adsorption ship body cleaning robot and ship body wall surface movement reversing method |
| CN112092996A (en) * | 2020-09-25 | 2020-12-18 | 大连海事大学 | Adsorption and driving device of underwater ship body cleaning robot and working method thereof |
| CN112975634A (en) * | 2021-03-09 | 2021-06-18 | 合肥工业大学 | Moving device for automatic detection and polishing of welding seam of cambered surface steel structure |
| CN113002652A (en) * | 2021-03-16 | 2021-06-22 | 昆明理工大学 | Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof |
| CN113021375A (en) * | 2021-03-24 | 2021-06-25 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
| CN113384040A (en) * | 2020-03-12 | 2021-09-14 | 广东天机工业智能系统有限公司 | Grinding machine |
| CN113830247A (en) * | 2021-11-04 | 2021-12-24 | 浙江海洋大学 | Ship outer plate polishing and derusting robot |
| CN114393491A (en) * | 2022-03-28 | 2022-04-26 | 南通鼎城船舶技术有限公司 | Anticorrosive paint vehicle of surface digs out device for boats and ships maintenance |
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| CN109772628A (en) * | 2019-02-27 | 2019-05-21 | 上海外高桥造船有限公司 | Safety-type spray robot |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN110182334A (en) * | 2019-05-24 | 2019-08-30 | 傅梅英 | A kind of climbing robot of magnetic suck |
| CN112758272A (en) * | 2019-05-24 | 2021-05-07 | 傅梅英 | Crawling robot and using method |
| CN110480496A (en) * | 2019-07-24 | 2019-11-22 | 武汉大学 | A kind of intelligence feather plucking robot |
| CN110405725A (en) * | 2019-08-13 | 2019-11-05 | 舟山市质量技术监督检测研究院 | A kind of climbing robot for the calibrating of vertical metal tankage size |
| CN110480175A (en) * | 2019-08-16 | 2019-11-22 | 金华纳尔环保技术有限公司 | A kind of derusting device for large ship hull |
| CN110480175B (en) * | 2019-08-16 | 2020-11-17 | 天津中海船务有限公司 | A rust cleaning device for large-scale boats and ships hull |
| CN111037437B (en) * | 2019-10-29 | 2021-01-08 | 浙江省海洋水产研究所 | Ship rust removal device |
| CN111037437A (en) * | 2019-10-29 | 2020-04-21 | 浙江省海洋水产研究所 | Ship rust removal device |
| CN111232151A (en) * | 2020-01-16 | 2020-06-05 | 中国海洋大学 | Negative pressure adsorption ship body cleaning robot and ship body wall surface movement reversing method |
| CN111216820A (en) * | 2020-02-28 | 2020-06-02 | 广州力多机器人智能科技有限公司 | Little rust cleaning robot of noise |
| CN113384040A (en) * | 2020-03-12 | 2021-09-14 | 广东天机工业智能系统有限公司 | Grinding machine |
| CN112092996A (en) * | 2020-09-25 | 2020-12-18 | 大连海事大学 | Adsorption and driving device of underwater ship body cleaning robot and working method thereof |
| CN112975634A (en) * | 2021-03-09 | 2021-06-18 | 合肥工业大学 | Moving device for automatic detection and polishing of welding seam of cambered surface steel structure |
| CN113002652A (en) * | 2021-03-16 | 2021-06-22 | 昆明理工大学 | Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof |
| CN113021375A (en) * | 2021-03-24 | 2021-06-25 | 浙江海洋大学 | Oil tank rust cleaning wall climbing robot |
| CN113830247A (en) * | 2021-11-04 | 2021-12-24 | 浙江海洋大学 | Ship outer plate polishing and derusting robot |
| CN114393491A (en) * | 2022-03-28 | 2022-04-26 | 南通鼎城船舶技术有限公司 | Anticorrosive paint vehicle of surface digs out device for boats and ships maintenance |
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