CN208163363U - Robot rust removalling equipment - Google Patents
Robot rust removalling equipment Download PDFInfo
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- CN208163363U CN208163363U CN201820084512.4U CN201820084512U CN208163363U CN 208163363 U CN208163363 U CN 208163363U CN 201820084512 U CN201820084512 U CN 201820084512U CN 208163363 U CN208163363 U CN 208163363U
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- underwater
- robot
- rust removalling
- removalling equipment
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Abstract
The utility model relates to a kind of robot rust removalling equipments, and umbilical cord device is with cable connection operating device and underwater body；Underwater body includes the underwater computer being sealed in normal pressure storehouse, control module, and drive module corresponding with each executing agency, and the pump valve part of the balanced tank being fixed on the rack and executing agency's adaptation；Operating device uses display interface and operation handle, underwater human body is connected to by umbilical cord device, it by operational order concrete operations running gear and solid mechanical hand and cleans robot movement with water again or provides track robot is allowed to be automatically performed derusting operation, robot can be according to the detection device of itself come positioning track and feedback all data and screen etc..The utility model realizes self-suspending, intelligent measurement, alarm, emergency ascent, automatic orbit and barrier avoiding function, overcome in traditional depressed place derusting and underwater artificial derusting there are the drawbacks of, so that ship is derusted operation highly effective and safe.
Description
Technical field
The utility model relates to a kind of robot rust removalling equipments.
Background technique
With the development of China's economic, transport by sea more and more busier, ship is during navigating by water for a long time and berthing, ship
Surface can generate oxidation corrosion phenomenon, therefore spray painting maintenance that must regularly be derusted to it, to ensure the peace of vessel motion
Full property and durability.
Original derusting is broadly divided into two classes of derusting and underwater artificial derusting in depressed place, derusts in depressed place and ship is stopped into dock, then
Dock water is drained, by manually machine being added to clean with water, drawback is to increase the loss of suspending of ship, it is costly, easily cause environment
Pollution.Existing underwater derusting is completed by diver by tool, and professional diver is needed, and labor intensity long there are the time
Greatly, the disadvantages of risk is high.
Utility model content
In order to overcome in depressed place derusting and the underwater artificial slow existing speed that derusts, costly, easy to pollute, large labor intensity and
The problems such as risk is high, the utility model provide a kind of robot rust removalling equipment that can solve drawbacks described above, can be amphibious, especially
It is suitable for derusting under water.
In order to achieve the above object, the technical solution of the utility model is to provide a kind of robot rust removalling equipment, packet
Contain：
Operating device, underwater body, and filled by the umbilical cord that cable connects the operating device with underwater body signal
It sets；
Several executing agencies are at least contained rust cleaning part, and are connect with cable with the underwater body signal；
If the underwater body include be sealed in normal pressure the storehouse in and mutually signal connect underwater computer, control module and
Dry drive module, and the pump valve part of the balanced tank being fixed on the rack and executing agency's adaptation；
The operating device provides the operational order for manually controlling or automatically controlling to underwater computer, by underwater computer
Corresponding control information is provided to control module and drive module；Each drive module obtains power output from control module,
The executing agency connected corresponding to the drive module is driven, and by the data that obtain in derusting operation to underwater computer
Feedback, and then operating device is fed back to by the underwater computer.
Preferably, the operating device includes with the Main Control Tank of cable connection and operation show case；Peace in the Main Control Tank
Equipped with electric control element and industrial computer, operation handle, button and display screen are installed in the operation show case.
Preferably, the umbilical cord device, comprising can automatic unwrapping wire twisted and released of the cable frame, and be wrapped on twisted and released of the cable frame
Neutral buoyancy cable.
Preferably, the executing agency, further includes：
Remove contamination manipulator, be equipped with installation under water the electronic or mechanical arm that surges of body front end, be mounted on electronic or liquid
The crushing device of dynamic mechanical arm front end, and the rotary motor as power source；The crushing device includes revolution steel brush and more
Injection stream spray boom；
Solid mechanical hand is equipped with the multi-joint manipulator arm for installing body rear end under water, is mounted on multi-joint machinery
The electromagnetism or vacuum chuck of arm front end.
Preferably, the executing agency further includes the detection device equipped with multiple sensors；The detection device packet
Actively and passively sonar, ultrasonic wave, temperature sensor, water depth sensor are installed containing body surrounding under water, and in normal pressure
The water leakage detection sensor installed in storehouse.
Preferably, the executing agency further includes running gear, under water organism bottom be equipped with fixed bracket,
Directive wheel and sucker, by moving the realization of robot rust removalling equipment all around with the cooperation of solid mechanical hand.
Preferably, the executing agency further includes visual analysis device, is equipped with and is equipped with the two of illumination light and holder
Platform Underwater Camera, with screen cable connection to the underwater computer；Distribution before and after two Underwater Cameras, and height is spaced
It installs to underwater body on ground.
Preferably, the executing agency further includes propulsion device, is equipped with：
Two propellers of underwater body are mounted horizontally to, robot rust removalling equipment is made to realize floating and dive；
Another two propellers of vertically-mounted to underwater After-Body realize robot rust removalling equipment and advance, retreat, turning
To.
Preferably, the underwater body be using nine axis compass can self-suspending body；
The detection device includes GPS positioning module of the installation to underwater body, to feed back the fortune of robot rust removalling equipment
Row track.
Preferably, the robot rust removalling equipment is amphibian.
In the robot rust removalling equipment of the utility model, operating device uses display interface and operation handle, by umbilical cord
Device is connected to underwater human body, then by operational order concrete operations running gear and solid mechanical hand and cleans manipulator with water
Moving or provide track allows robot to be automatically performed derusting operation, and robot can be according to the detection device of itself come positioning track
And feedback all data and screen etc..
The advantageous effects of the utility model are：Robot derusting makes to grasp using visualization and double-manipulator operation
To make intuitive and reliable, labor intensity is low, can be amphibious, great benefit is brought for user.Wherein, former and later two holders have been used
High definition underwater camera, large-screen display, it is very clear to make to operate；Active-passive sonar is used, digitization is shown, and is added
Enter GPS positioning, running track is safe and reliable；Using profiling operation handle, easy to operate, labor intensity is low；Programmable operation rail
Mark, allowing derusting to remove contamination becomes simpler；It is designed using self-suspending body, and has used nine axis compass, become control
It is simple and reliable and low energy consumption；Using temperature, water depth sensor, and many places leak water detdction is added, when more than the depth of water, temperature
And leak, it issues and alarms and float automatically；Using propeller and climbing mechanism, propeller guarantees robot free diving under water
Row work, climbing mechanism is using electromagnet or sucker suction in hull surface walking operations；Umbilical cord device has used automatic unwrapping wire
Mechanism and neutral buoyancy cable, influence umbilical cord at least to robotic movement；Robot underwater portion largely use aluminium alloy and
Engineering plastics have the advantages that small in size, light-weight, easy anti-corrosion, temperature range are wide, substantially increase service life.
Detailed description of the invention
Fig. 1 is the schematic diagram of robot rust removalling equipment described in the utility model.
Specific embodiment
As shown in Figure 1, a kind of robot rust removalling equipment provided by the utility model, includes：Operating device 1, umbilical cord device
2, underwater body 3, manipulator 4 of removing contamination, solid mechanical hand 5, detection device 6, running gear 7, visual analysis device 8, propulsion dress
Set 9.
Wherein, the operating device 1 includes Main Control Tank 11 and operation show case 12, is connected with each other with cable.Main Control Tank 11
Interior installation electric control element and industrial computer etc., the interior installation operation handle of operation show case 12 and button and display screen etc..
The umbilical cord device 2 includes twisted and released of the cable frame（Containing automatic paying-out mechanism）, neutral buoyancy cable, wind umbilical cable
On cable trough, the operating device 1 and underwater body 3 are connected by cable.
The underwater body 3 include balanced tank, underwater computer 31, control module 32, drive module 33, pump valve part,
The electrical components such as underwater computer 31, control module 32, drive module 33 are sealed in normal pressure storehouse, balanced tank by rack etc.
It is fixed on the rack with pump valve part.Balanced tank is used as buoyant equilibrium；The com port and control module 32 of underwater computer 31 connect
It connects, I/O mouthfuls connect with each drive module 33；The power output of control module 32 is connect with each drive module 33, the driving
Module 33 is also connected with respective executing agency, then gives data feedback to underwater computer 31.
The manipulator 4 of removing contamination is connected equipped with mechanical arm, rotary motor, crushing device etc. by cable and underwater body 3
It connects.Concrete mode is that the electronic or mechanical arm that surges is installed in 3 front end of body under water, and the crushing device of mechanical arm front end installation includes
Turn round steel brush and multiinjector jet stream spray boom.The rotary motor is power source.Pump valve part compatible with multiinjector jet stream spray boom,
E.g. force (forcing) pump and valve member etc. after seawater pressurizes, control flow by valve member, then decontaminated by nozzle.
The solid mechanical hand 5 is equipped with mechanical arm, electromagnetism or vacuum chuck, is connect by cable with underwater body 3.Specifically
Mode is that sucker is installed in 3 rear end of body installation multi-joint manipulator, arm front end under water.
The detection device 6 is equipped with multiple sensors, is connect by cable with underwater body 3, and data feedback is calculated to underwater
Machine 31.For example, 3 surrounding of body installs actively and passively sonar, ultrasonic wave, temperature sensor, water depth sensor under water, normal
Press the sensor etc. that leak water detdction is installed in storehouse.
The running gear 7 is equipped with fixed bracket, directive wheel, sucker, is connect by cable with underwater body 3：Specifically in water
3 bottom mounting and fixing bracket of lower body, directive wheel and sucker, then solid mechanical hand 5 is cooperated all around to move.
The visual analysis device 8 is equipped with two Underwater Cameras, by screen cable connection to underwater computer 31.Camera shooting
Machine is one in front and one in back, one high and one low to install 3 top of body under water, has floodlighting and cradle head control.
The propulsion device 9 is equipped with four propellers, is connect by cable with underwater body 3.Wherein, two propeller levels
It is mounted on body, is responsible for floating and dive, in addition two propellers are vertically installed at After-Body, and it is certain to can control rotation
Angle is responsible for advancing, retreats, turns to.
The control process of robot rust removalling equipment described in the utility model, is divided into and manually controls and automatically control：Control manually
System is that underwater computer 31 is sent instructions to by operating device 1, and underwater computer 31 is required according to instruction, controls each component and makees phase
It should move, then feed back all data；Automatic control is to set number according to ship and hydraulic parameters by operator
According to and track, be sent to underwater computer 31, underwater computer 31 is automatically performed related operation, and pass back in real time according to requiring
All data.
The robot rust removalling equipment of the utility model realizes self-suspending, intelligent measurement, alarm, emergency ascent, automatic
Track and barrier avoiding function etc., make ship derusting operation highly effective and safe, and open moduleization design makes maintenance simple and convenient, comprehensively
Preservative treatment, improve the service life of robot.
It is discussed in detail although the content of the utility model has passed through above preferred embodiment, but it should be appreciated that on
The description stated is not considered as limitations of the present invention.After those skilled in the art have read above content, for
A variety of modifications and substitutions of the utility model all will be apparent.Therefore, the protection scope of the utility model should be by appended
Claim limit.
Claims (10)
1. a kind of robot rust removalling equipment, which is characterized in that include：
Operating device, underwater body, and the umbilical cord device for being connected the operating device with underwater body signal by cable；
Several executing agencies are at least contained rust cleaning part, and are connect with cable with the underwater body signal；
The underwater body is comprising being sealed in underwater computer, control module and several drives that in normal pressure storehouse and mutual signal connects
Dynamic model block, and the pump valve part of the balanced tank being fixed on the rack and executing agency's adaptation；
The operating device provides the operational order that manually controls or automatically control to underwater computer, from underwater computer to control
Molding block and drive module provide corresponding control information；Each drive module obtains power output from control module, to
The executing agency that the drive module accordingly connects is driven, and the data obtained in derusting operation are anti-to underwater computer
Feedback, and then operating device is fed back to by the underwater computer.
2. robot rust removalling equipment as described in claim 1, which is characterized in that
The operating device includes with the Main Control Tank of cable connection and operation show case；Electric control element is installed in the Main Control Tank
And industrial computer, operation handle, button and display screen are installed in the operation show case.
3. robot rust removalling equipment as described in claim 1, which is characterized in that
The umbilical cord device, comprising can automatic unwrapping wire twisted and released of the cable frame, and the neutral buoyancy cable being wrapped on twisted and released of the cable frame.
4. robot rust removalling equipment as described in claim 1, which is characterized in that
The executing agency, further includes：
Remove contamination manipulator, be equipped with installation under water the electronic or mechanical arm that surges of body front end, be mounted on electronic or hydraulic motor
The crushing device of tool arm front end, and the rotary motor as power source；The crushing device includes revolution steel brush and multiinjector
Jet stream spray boom；
Solid mechanical hand is equipped with the multi-joint manipulator arm for installing body rear end under water, is mounted on multi-joint manipulator arm
The electromagnetism or vacuum chuck of front end.
5. robot as claimed in claim 4 rust removalling equipment, which is characterized in that
The executing agency further includes the detection device equipped with multiple sensors；The detection device includes body under water
Surrounding is equipped with actively and passively sonar, ultrasonic wave, temperature sensor, water depth sensor, and the leakage installed in normal pressure storehouse
Water-detection sensors.
6. robot rust removalling equipment as claimed in claim 4, which is characterized in that
The executing agency further includes running gear, and organism bottom is equipped with fixed bracket, directive wheel and suction under water
Disk, by moving the realization of robot rust removalling equipment all around with the cooperation of solid mechanical hand.
7. robot as claimed in claim 4 rust removalling equipment, which is characterized in that
The executing agency further includes visual analysis device, is equipped with two underwater cameras for being equipped with illumination light and holder
Machine, with screen cable connection to the underwater computer；Distribution before and after two Underwater Cameras, and height compartment of terrain is installed to water
Lower body.
8. robot rust removalling equipment as claimed in claim 4, which is characterized in that
The executing agency further includes propulsion device, is equipped with：
Two propellers of underwater body are mounted horizontally to, robot rust removalling equipment is made to realize floating and dive；
Another two propellers of vertically-mounted to underwater After-Body realize robot rust removalling equipment and advance, retreat, turning to.
9. robot rust removalling equipment as claimed in claim 5, which is characterized in that
The underwater body be using nine axis compass can self-suspending body；
The detection device includes GPS positioning module of the installation to underwater body, to feed back the operation rail of robot rust removalling equipment
Mark.
10. the robot rust removalling equipment as described in any one of claim 1 ~ 9, which is characterized in that
The robot rust removalling equipment is amphibian.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820084512.4U CN208163363U (en) | 2018-01-18 | 2018-01-18 | Robot rust removalling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820084512.4U CN208163363U (en) | 2018-01-18 | 2018-01-18 | Robot rust removalling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208163363U true CN208163363U (en) | 2018-11-30 |
Family
ID=64387666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820084512.4U Active CN208163363U (en) | 2018-01-18 | 2018-01-18 | Robot rust removalling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208163363U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188897A (en) * | 2018-01-18 | 2018-06-22 | 美钻能源科技(上海)有限公司 | Robot rust removalling equipment |
-
2018
- 2018-01-18 CN CN201820084512.4U patent/CN208163363U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108188897A (en) * | 2018-01-18 | 2018-06-22 | 美钻能源科技(上海)有限公司 | Robot rust removalling equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200107 Address after: No. 500 Jinle Road, Baoshan District, Shanghai Co-patentee after: Shanghai ocean engineering equipment manufacturing Innovation Center Co., Ltd Patentee after: MEDIAN ENERGY TECHNOLOGY (SHANGHAI) CO., LTD. Address before: 200941 No. 500 Lok Lok Road, Shanghai, Baoshan District Patentee before: MEDIAN ENERGY TECHNOLOGY (SHANGHAI) CO., LTD. |
|
| TR01 | Transfer of patent right |