CN208682970U - A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting - Google Patents
A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting Download PDFInfo
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- CN208682970U CN208682970U CN201821107027.0U CN201821107027U CN208682970U CN 208682970 U CN208682970 U CN 208682970U CN 201821107027 U CN201821107027 U CN 201821107027U CN 208682970 U CN208682970 U CN 208682970U
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- climbing robot
- iron block
- rectangle
- magnet
- sucking disc
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Abstract
The utility model relates to a kind of novel magnetic adsorption type climbing robots for ship derusting by sandblasting, including running gear, assisted sucking disc device, dynamical system and climbing robot frame body.Magnet mounting plate for installing rectangle permanent magnetic iron block is made of punching press, middle section is machined with magnet fixed plate, it can reinforce bending resistance, therefore the rectangle permanent magnetic iron block of big suction can be installed and indeformable, assisted sucking disc system is arranged to increase absorption torque in climbing robot front end, to increase resistance to capsizing, it is creeped with the negative angle for adapting to different, increase climbing robot load, assisted sucking disc is coupled using permanent magnet and electromagnet, it can guarantee certain adsorption capacity in the case where unexpected power-off, it is powered off when needing to remove, front and rear sides are provided with universal wheel simultaneously, reduce frictional force when walking, running gear is provided with spring damper, when ascending obstacle, automatic telescopic is to change the tightness of crawler belt, so as to keep stable adsorbed state.
Description
Technical field
The utility model relates to a kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting, application field is
The band large-scale metals surface derusting such as ship derusting and oil field tank.
Background technique
In recent years, with the continuous development of science and technology, research of the China in terms of Rust Removal Robot of Sand Blast has been achieved with considerable
Development, but it is more and more large-scale along with ship, to magnetically adsorbed wall-climbing robot load capacity, adsorption capacity and obstacle detouring energy
Force request is also higher and higher, and in face of there is the working surface of weld seam and negative angle, traditional magnetically adsorbed wall-climbing robot increases simply
Strong magnet adsorption capacity, creep in the magnet block at climbing robot rear cause magnetic since adsorption capacity is excessive when leaving working surface
There is bending deformation problem in iron mounting plate, and removal problem is not easy when periods of robot operation stop.For this purpose, it is proposed that one kind is used for
The novel magnetic adsorption type climbing robot of ship derusting by sandblasting.
Utility model content
The utility model provides a kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting, overcomes above-mentioned existing
Have the deficiency of technology, effectively solve the problems, such as existing magnetically adsorbed wall-climbing robot different operating surface obstacle detouring and adsorption capacity not
The problems such as sufficient.
The technical problem solved by the utility model is implemented by the following technical solutions:
A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting includes running gear, assisted sucking disc system
System, dynamical system and climbing robot frame body.
The running gear includes pedrail mechanism, postposition sprocket wheel, drive sprocket, track support frame and flexible springs damping
Device；The pedrail mechanism includes crawler belt, magnet mounting plate, rubber ring protection board, magnet fixed plate, rectangle permanent magnetic iron block and rubber
Circle；The pedrail mechanism is mounted on climbing robot frame body two sides, and the magnet mounting plate is affixed with crawler belt, and use is high-quality
Stainless steel punching press is made, and middle section both wings respectively have the magnet fixed plate, and both ends are respectively machined with the rubber ring
Protection board is equipped with two pieces of rectangle permanent magnetic iron blocks side by side, the rectangle permanent magnetic iron block peace above the magnet mounting plate
Between the magnet fixed plate, gapless is bonded, the magnet fixed plate length and two pieces of rectangles being mounted side by side
Magnet block equal length, the rubber ring are mounted on magnet installation board ends, the rubber ring protection board height with it is described
Magnet fixed plate height is identical, and the slightly below described rectangle permanent magnetic iron block height, the rubber ring height are slightly above the rectangle
Permanent magnetic iron block；The track support frame front end connects the rear end of the flexible springs damper, and rear end connects the postposition chain
Wheel, flexible springs damper front end connect the drive sprocket, and the flexible springs damper includes spring, mandrel
And casing, described sleeve pipe rear end are connect with the track support frame, the core back-end is inserted into described sleeve pipe front end, the spring
Set is on the mandrel.
The assisted sucking disc system is mounted on the front end of the climbing robot frame body, including assisted sucking disc mainboard, rectangle
Permanent magnetic iron block, rectangle electromagnet and universal wheel, the rectangle permanent magnetic iron block are fixed on the side of the assisted sucking disc mainboard side by side,
The rectangle electromagnet is mounted on the assisted sucking disc other side, the rectangle permanent magnetic iron block and the rectangle electromagnet in up and down
Two rows, height is identical, and the universal wheel is mounted side by side on assisted sucking disc mainboard rear and front end, the rectangle permanent magnetic iron block and
The rectangle electromagnet height is slightly below the universal wheel.
The dynamical system includes motor and retarder, and the motor is coupled with the retarder, forms a drive
Dynamic group, the driving group are mounted on the climbing robot frame body first half, and left and right installation side by side independently works.
The climbing robot frame body is welded by steel plate and square steel tube, and frame body ante-chamber is for installing the dynamical system
System, frame body back cavity is for installing corresponding derusting device.
The utility model has the beneficial effects that a kind of novel magnetic adsorption type for ship derusting by sandblasting of the utility model climbs wall
Robot, magnet mounting plate are made of punching press, and middle section is machined with magnet fixed plate, can reinforce bending resistance, therefore
The rectangle permanent magnetic iron block of big suction can be installed and indeformable, while rectangle permanent magnetic iron block can be fixed and be allowed to not float, magnet
Installation board ends are machined with rubber ring protection board, wear during obstacle detouring to avoid rubber ring；Front end setting auxiliary is inhaled
Disc system is to increase absorption torque, to increase resistance to capsizing, is creeped with the negative angle for adapting to different, while can increase and climb
The load of wall robot, assisted sucking disc are coupled using permanent magnet and electromagnet, and electromagnet can greatly increase the suction of assisted sucking disc
Attached power, while rectangle permanent magnetic iron block can also guarantee certain adsorption capacity in the case where unexpected power-off, securely and reliably, climb wall machine
In device people's walking process, assisted sucking disc system contacts working surface, rectangle permanent magnetic iron block and rectangle electromagnet and work by universal wheel
Make face and keep slight distance, with the friction between reduction and working face, power-off can be greatly reduced when unloading assisted sucking disc system
Its adsorption capacity, to be easy to unload；Spring vibration damper can be according to different working surface automatic telescopics to change crawler belt
Tightness, so that climbing robot can keep stable adsorbed state when ascending obstacle.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, it is obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, fall within the protection scope of the utility model.
A kind of Fig. 1: schematic diagram of the novel magnetic adsorption type climbing robot for ship derusting by sandblasting of the utility model；
A kind of Fig. 2: absorbing unit of the novel magnetic adsorption type climbing robot for ship derusting by sandblasting of the utility model
Figure；
A kind of Fig. 3: assisted sucking disc of the novel magnetic adsorption type climbing robot for ship derusting by sandblasting of the utility model
System diagram；
A kind of Fig. 4: the crawler belt support of novel magnetic adsorption type climbing robot for ship derusting by sandblasting of the utility model
Frame schematic diagram.
In figure: 1. assisted sucking disc systems, 2. climbing robot frame bodies, 3. frame body ante-chambers, 4. retarders, 5. motors, 6. are carried out
Band, 7. frame body back cavities, 8. rubber ring protection boards, 9. magnet mounting plates, 10. rectangle permanent magnetic iron blocks, 11. magnet fixed plates, 12. rubbers
Cushion rubber, 13. universal wheels, 14. rectangle electromagnet, 15. assisted sucking disc mainboards, 16. postposition sprocket wheel, 17. track support frame, 18. sets
Pipe, 19. springs, 20. mandrels, 21. drive sprockets.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting includes running gear, assisted sucking disc system
System, dynamical system and climbing robot frame body.
Running gear includes that pedrail mechanism, postposition sprocket wheel 16, drive sprocket 21, track support frame 17 and flexible springs subtract
Device is shaken, pedrail mechanism includes crawler belt 6, magnet mounting plate 9, rubber ring protection board 8, magnet fixed plate 11, rectangle permanent magnetic iron block 10
With rubber ring 12, pedrail mechanism is mounted on 2 two sides of climbing robot frame body, and magnet mounting plate 9 and crawler belt 6 are affixed, and use is high-quality
Stainless steel punching press is made, and middle section both wings respectively have a magnet fixed plate 11, and both ends are respectively machined with a rubber ring protection board
8, magnet mounting plate 11 is equipped with two pieces of rectangle permanent magnetic iron blocks 10 side by side above, and rectangle permanent magnetic iron block 10 is mounted on magnet and fixes
Between plate 11, gapless is bonded, 11 length of magnet fixed plate and two pieces of 10 equal lengths of rectangular magnet block being mounted side by side, rubber
Circle 12 is mounted on 9 both ends of magnet mounting plate, and 8 height of rubber ring protection board and 11 height of magnet fixed plate are identical and slightly lower
In 10 height of rectangle permanent magnetic iron block, the rubber ring 12 is highly slightly above the rectangle permanent magnetic iron block 10；Track support frame
17 front ends connect the rear end of flexible springs damper, and rear end connects postposition sprocket wheel 16, the connection of flexible springs damper front end
Drive sprocket 21, flexible springs damper include spring 19, mandrel 20 and casing 18,18 rear end of casing and track support frame 17
18 front end of casing is inserted into connection, 20 rear end of mandrel, and 19 sets of spring on 20 axis of core.
Assisted sucking disc system 1 is mounted on the front end of climbing robot frame body 2, including assisted sucking disc mainboard 15, rectangle permanent magnetism
Iron block 10, rectangle electromagnet 14 and universal wheel 13, rectangle permanent magnetic iron block 10 are fixed on one end of assisted sucking disc mainboard 15, square side by side
Shape electromagnet 14 is mounted on the other end of assisted sucking disc mainboard 15, and rectangle permanent magnetic iron block 10 and rectangle electromagnet 14 are in upper and lower two
Row, height is identical, and universal wheel 13 is mounted side by side on 15 front and rear sides of assisted sucking disc mainboard, rectangle permanent magnetic iron block 10 and rectangle electromagnetism
Iron 14 is highly slightly below universal wheel 13.
Dynamical system includes motor 5 and retarder 4, and motor 5 is coupled with retarder 4, forms a driving group, driving
Group is mounted on 2 first half of climbing robot frame body, and left and right installation side by side independently works.
Climbing robot frame body 2 is welded by steel plate and square steel tube, and frame body ante-chamber 3 is for installing dynamical system, frame body
Back cavity 7 is for installing corresponding derusting device.
When climbing robot is creeped, the assisted sucking disc system 1 in front of climbing robot is adsorbed on the work surface, universal wheel
13 contact working faces, rectangle permanent magnetic iron block 10 and rectangle electromagnet 14 and working face keep slight gap, after accident power-off occurs,
Rectangle permanent magnetic iron block 10 can guarantee certain adsorption capacity, guarantee climbing robot stability and safety, need to unload auxiliary
When sucker system 1, power supply is disconnected, 14 magnetic force of rectangle electromagnet disappears, and the adsorption capacity of assisted sucking disc system 1 greatly reduces, is convenient for
It removes, the rectangle permanent magnetic iron block 10 in 6 front of crawler belt, which is attracted, arrives working face, and the rectangle permanent magnetic iron block 10 at rear leaves working surface,
Very big adsorption capacity is generated to 9 part of magnet mounting plate when leaving surface, magnet fixed plate 11 can increase its bending resistance,
Magnet mounting plate 9 is avoided the problems such as bending deformation occur, when climbing robot climbing barrier, 6 front end of crawler belt is by upward
Local pressure is converted to the pressure to flexible springs damper, so that spring 19 is compressed, 20 tail end sleeve pipe of mandrel
18, so that crawler belt 6 is fluffed, guarantees that the other parts of part during obstacle detouring except contact barrier can be adsorbed on working surface
On.
Claims (3)
1. a kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting, which is characterized in that including running gear, auxiliary
Help sucker system, dynamical system and climbing robot frame body；The running gear includes pedrail mechanism, postposition sprocket wheel, drive chain
Wheel, track support frame and flexible springs damper；The pedrail mechanism include crawler belt, magnet mounting plate, rubber ring protection board,
Magnet fixed plate, rectangle permanent magnetic iron block and rubber ring；The pedrail mechanism is mounted on climbing robot frame body two sides, described
Magnet mounting plate and crawler belt are affixed, are made of stainless steel punching press, and middle section both wings respectively have the magnet fixed plate, and two
End is respectively machined with the rubber ring protection board, and two blocks of rectangle permanent magnetism side by side is equipped with above the magnet mounting plate
Iron block, the rectangle permanent magnetic iron block are mounted between the magnet fixed plate, gapless fitting, the magnet fixed plate length with
Two pieces of rectangular magnet block lengths being mounted side by side are equal, and the rubber ring is mounted on the magnet installation board ends, described
Rubber ring protection board height is identical as the magnet fixed plate height, and the slightly below described rectangle permanent magnetic iron block height, the rubber
Cushion rubber height is slightly above the rectangle permanent magnetic iron block.
2. a kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting according to claim 1,
It is characterized in that, the track support frame front end connects the rear end of the flexible springs damper, and rear end connects the postposition chain
Wheel, flexible springs damper front end connects the drive sprocket, and the flexible springs damper includes spring, core
Axis and casing, described sleeve pipe rear end are connect with the track support frame, and the core back-end is inserted into described sleeve pipe front end, the bullet
Spring covers on the mandrel.
3. a kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting according to claim 1, feature
It is, the assisted sucking disc system is mounted on the front end of the climbing robot frame body, including assisted sucking disc mainboard, rectangle permanent magnetism
Iron block, rectangle electromagnet and universal wheel, the rectangle permanent magnetic iron block is fixed on the side of the assisted sucking disc mainboard side by side, described
Rectangle electromagnet is mounted on the assisted sucking disc other side, and the rectangle permanent magnetic iron block and the rectangle electromagnet are in upper and lower two
Row, height is identical, and the universal wheel is mounted side by side on assisted sucking disc mainboard rear and front end, the rectangle permanent magnetic iron block and institute
It states rectangle electromagnet height and is slightly below the universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821107027.0U CN208682970U (en) | 2018-07-13 | 2018-07-13 | A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821107027.0U CN208682970U (en) | 2018-07-13 | 2018-07-13 | A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208682970U true CN208682970U (en) | 2019-04-02 |
Family
ID=65881105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821107027.0U Expired - Fee Related CN208682970U (en) | 2018-07-13 | 2018-07-13 | A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting |
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| Country | Link |
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| CN (1) | CN208682970U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466722A (en) * | 2019-01-03 | 2019-03-15 | 中国石油大学(华东) | A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting |
| CN111017053A (en) * | 2019-11-15 | 2020-04-17 | 上海江南长兴造船有限责任公司 | Wall-climbing robot base |
| CN111086568A (en) * | 2019-12-24 | 2020-05-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN112716349A (en) * | 2020-12-30 | 2021-04-30 | 张云 | Cleaning brush for high glass |
| CN115589646A (en) * | 2022-12-12 | 2023-01-10 | 久盛电气股份有限公司 | Heating system, tank device and control method thereof |
-
2018
- 2018-07-13 CN CN201821107027.0U patent/CN208682970U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109466722A (en) * | 2019-01-03 | 2019-03-15 | 中国石油大学(华东) | A kind of novel magnetic adsorption type climbing robot for ship derusting by sandblasting |
| CN111017053A (en) * | 2019-11-15 | 2020-04-17 | 上海江南长兴造船有限责任公司 | Wall-climbing robot base |
| CN111017053B (en) * | 2019-11-15 | 2024-04-02 | 上海江南长兴造船有限责任公司 | Wall climbing type robot base |
| CN111086568A (en) * | 2019-12-24 | 2020-05-01 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN111086568B (en) * | 2019-12-24 | 2020-10-30 | 山东科技大学 | Crawler-type steel wall climbing robot |
| CN112716349A (en) * | 2020-12-30 | 2021-04-30 | 张云 | Cleaning brush for high glass |
| CN115589646A (en) * | 2022-12-12 | 2023-01-10 | 久盛电气股份有限公司 | Heating system, tank device and control method thereof |
| CN115589646B (en) * | 2022-12-12 | 2023-03-21 | 久盛电气股份有限公司 | Heating system, tank device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190402 Termination date: 20190713 |
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| CF01 | Termination of patent right due to non-payment of annual fee |