CN208828065U - Ship derusting cleaning system based on climbing robot - Google Patents
Ship derusting cleaning system based on climbing robot Download PDFInfo
- Publication number
- CN208828065U CN208828065U CN201821519749.7U CN201821519749U CN208828065U CN 208828065 U CN208828065 U CN 208828065U CN 201821519749 U CN201821519749 U CN 201821519749U CN 208828065 U CN208828065 U CN 208828065U
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- China
- Prior art keywords
- vacuum
- climbing robot
- derusting
- washer
- ship
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Abstract
The utility model relates to the ship derusting cleaning systems based on climbing robot characterized by comprising climbing robot, for being adsorbed on ship outer wall；Vacuum derusting washer, is arranged on climbing robot, including multiple high-pressure water nozzles, vacuum suction apparatus；High pressure pump group is connect with vacuum derusting washer by pipeline, is that vacuum derusting washer inputs high pressure water flow by pipeline, the other end of high pressure pump group is connect with cleaning water source；Vacuum recovering apparatus is connect, for recycling anvil cinder and waste water after climbing robot cleans with vacuum derusting washer by recovery tube；Control device is communicated to connect with climbing robot, for the derusting parameter and control climbing robot of climbing robot to be arranged.The beneficial effects of the utility model are: being able to achieve ship green, efficient, high quality derusting cleaning, greatly improves rust cleaning efficiency and save artificial material cost.
Description
Technical field
The utility model relates to ship derusting technical fields, derust more particularly to a kind of ship based on climbing robot
Cleaning system.
Background technique
Ship derusting cleaning is an important service in shipping industry, is shipbuilding and the indispensable important ring of shiprepair
Section, is the first step before vessel coating, immerses the erosion for enduring seawater to the fullest extent in the seawater for a long time additionally, due to ship outer wall, no
It is evitable to corrode, to improve the service life of ship and increasing safety in utilization, when ship outer wall corrosion to certain journey
When spending, it is necessary to carry out derusting cleaning.
And existing derusting method mostly carries out the derusting of spray drying sand, this derusting process using traditional man-hour manually hand-held spray gun
Cost is very high, needs to expend a large amount of copper ore and needs manpower, in addition at high cost, is chronically in this environment,
Worker is also easy to suffer from occupational disease, in addition, such operation mode is also easy, accidents happened.
Summary of the invention
In view of the above-mentioned problems, the utility model provides a kind of ship derusting cleaning system based on climbing robot, it is benefit
With water under high pressure jet stream rust cleaning, moisture is drained using vacuum and recycles anvil cinder to prevent from returning rust, is taken using large-scale climbing robot
It carries derusting washer and is remotely controlled operation, safe operation is reliable, realizes ship green, efficient, high quality derusting cleaning, is to pass through
What following technical solution was realized.
Ship derusting cleaning system based on climbing robot, comprising:
Climbing robot, for being adsorbed on ship outer wall walking operations line by line lateral with climbing robot, longitudinal；
Vacuum derusting washer, is arranged on climbing robot, multiple high-pressure water nozzles including spraying high-pressure water jet,
The high-pressure water jet on the rust face of ship outer wall is acted on, the vacuum suction apparatus in nozzle sets periphery is configured, is taken out by vacuum
Suction discharges the anvil cinder generated in descaling process and Sewage treatment；
High pressure pump group is connect with vacuum derusting washer by pipeline, is that vacuum derusting washer input is high by pipeline
Water flow is pressed, the other end of high pressure pump group is connect with cleaning water source；
Vacuum recovering apparatus is connect, after recycling climbing robot cleaning with vacuum derusting washer by recovery tube
Anvil cinder and waste water；
Control device is communicated to connect with climbing robot, and the derusting parameter and control for climbing robot to be arranged are climbed
Wall robot.
Further, operating pressure of the high-pressure water jet for the operation that derusts caused by vacuum derusting washer exists
200MPa-300MPa, temperature caused by water jet are 55~90 °.
Further, the climbing robot includes permanent magnetic adsorption-type crawler belt, and harmonic speed reducer, motor and vacuum derusting are clear
Wash device.
Further, vacuum derusting washer includes vacuum cleaned cover and hairbrush, and vacuum cleaned cover and hairbrush form sealing
Space is equipped with multiple high-pressure water nozzles in vacuum cleaned cover, and the angle between high-pressure water nozzle and wall surfaces of ships can be adjusted
Section is driven by gas motor and is rotated.
Further, the vacuum recovering apparatus, by vortex pump, storage rust tank, sewage pump, valve, separator, filtering
Device, water storage tank and electrical control cabinet composition.
Further, the method for the recycling iron rust waste liquid of the vacuum recovering apparatus includes:
Vortex pump and storage rust tank will be become rusty water by inhaling rust piping connection, the vacuum that vortex pump generates by inhaling rust pipeline
Equal mixtures are drawn onto storage rust tank；
Sewage pump connect with storage rust tank, and storage becomes rusty in tank liquid level when reaching set amount, and sewage pump is by the major part in mixture
Water discharge storage rust tank；
The valve for releasing iron rust is arranged in storage rust pot bottom；
Sewage pump is connected to filter, and one secondary filtration of filter intercepts iron rust and water, the filter core of filter respectively
Iron rust is intercepted in draining.
Further, control device is responsible for receiving the manipulation command of operator and is transmitted to down order as host computer
Position machine controller system, and the cleaning robot job status information that returns in real time of display slave computer is received simultaneously and failure is examined
Disconnected information.
Further, the control system of climbing robot is communicated as slave computer with host computer, for being responsible for wall-climbing device
The Operation control of people, including it is ultra-high pressure water fluid jet cleaning TRAJECTORY CONTROL and parameter configuration, climbing robot trajectory motion control, true
System job control, equipment fault diagnosis and safety pretreatment, on-line operation communication are received in backlash.
The beneficial effects of the utility model are: being able to achieve ship green, efficient, high quality derusting cleaning, greatly improve
Rust cleaning efficiency and saving artificial material cost.
Detailed description of the invention
Fig. 1 is the technological principle signal schematic diagram of specific embodiment of the utility model.
Fig. 2 is the derusting process route block diagram of specific embodiment of the utility model.
Fig. 3 is the climbing robot and control system composition figure of specific embodiment of the utility model.
Fig. 4 is the control system general frame of specific embodiment of the utility model.
Specific embodiment
Below with reference to embodiment and attached drawing, it is described in detail with specific embodiment of the utility model.
The cleaning system as shown in Figure 1, ship based on climbing robot derusts, comprising:
Climbing robot, for being adsorbed on ship outer wall walking operations line by line lateral with climbing robot, longitudinal；
Vacuum derusting washer, is arranged on climbing robot, multiple high-pressure water nozzles including spraying high-pressure water jet,
The high-pressure water jet on the rust face of ship outer wall is acted on, the vacuum suction apparatus in nozzle sets periphery is configured, is taken out by vacuum
Suction discharges the anvil cinder generated in descaling process and Sewage treatment；
High pressure pump group is connect with vacuum derusting washer by pipeline, is that vacuum derusting washer input is high by pipeline
Water flow is pressed, the other end of high pressure pump group is connect with cleaning water source；
Vacuum recovering apparatus is connect, after recycling climbing robot cleaning with vacuum derusting washer by recovery tube
Anvil cinder and waste water；
Control device is communicated to connect with climbing robot, and the derusting parameter and control for climbing robot to be arranged are climbed
Wall robot.
As shown in Figs. 1-2, the operating pressure of the high-pressure water jet in the rust face of ship outer wall is cleaned in 200MPa-300MPa,
High-pressure water jet uses clean water or industrial treatment water for raw material, solve the water pollution manually to derust, air pollution and
The problem of risk, and manually derust ship wall carry out jet stream rust cleaning after have some moisture accumulations, can get rusty again quickly, i.e.,
Return rust.The utility model introduces vacuum technique in water under high pressure jet stream rust cleaning, and multiple derusting nozzles are mounted on a vacuum chamber
Interior, preferred embodiment is 8, but actually uses the nozzle of other quantity, forms rotating jet, in a vacuum chamber, often
When warm water is pumped to high-pressure water, temperature can achieve 70 degrees Celsius, forms high-temperature field in vacuum chamber, may be implemented i.e.
Except i.e. dry.Meanwhile the negative-pressure ward effect of vacuum plant also achieves waste water waste material recycling, reaches the effect for preventing from returning rust and environmental protection
Fruit, the corrosion degree different for hull and shipowner to the class requirement of derusting, operator can by remote controler,
Remote adjustment derusts parameter, such as the pressure and flow of high-pressure pump, the movement speed of climbing robot and track etc., to meet not
Same demand.
Based on high pressure water jet hull-rust extraction cleaning climbing robot outfit with it is environment friendly and pollution-free originally
Water is derusting medium, obtains water jet rust removing energy by the high-power plunger pump assembly of super-pressure, is artificially derusted with wall-climbing device
Carrier carries vacuum derusting washer.Vacuum derusting washer is mounted on climbing robot frame, utilizes the pumping of vacuum plant
Suction effect generates enough vacuum degrees and acts on vacuum derusting washer, to assist magnetic adsorption wall climbing robot to be tightly attached to ship
On wall surface.Meanwhile vacuum suction apparatus generates biggish vacuum force, by the anvil cinder generated in descaling process and Sewage treatment
Discharge achievees the purpose that reduce discharge recycling environmental protection, mention thoroughly to administer the environmental issue that rivers,lakes and seas are polluted in ship derusting
Solution is supplied.At the same time, due to remain certain vacuum degree in space of derusting during derusting, high pressure water with
Certain angle sprays impact on the steel plate from spray head, so that surface of steel plate is generated about 80 degrees Celsius of high temperature, is derusting in this way
The water droplet of surface of steel plate is evaporated quickly in the process, returns rust without generating to achieve the purpose that derust using water.
High pressure pump group is the important component of entire derusting integrated system, and core component is that ultra-high pressure water fluid jet is big
Power pump group, using the structure type of three plungers or five plunger reciprocating pumps, major function is to generate ultra-high pressure water fluid jet, passes through spray
The executing agencies such as rifle or washer act on hull surface, realize the derusting of hull surface.
The top priority for the high pressure pump group parameter selection that derusts is determining system pressure parameter.Ultra-high pressure water fluid jet pressure is high,
Host and accessory must adapt to ultra-high pressure water fluid jet requirement, this makes that material and design cost is selected to go up, but also brings fortune
Row integrity problem.According to experimental results demonstrate high-pressure water shot flowing pressure 250MPa or so fully achieves derusting grade and wants
It asks.According to domestic and international research experience, no matter how high jet pressure reach to super-pressure pump group, and jet flow shall not be less than 25L/
min.However, wall surfaces of ships, which derusts, to be required i.e. except doing, and flow also should not be too large to prevent from returning rust.
For wall-climbing robot for removing rust as the method important component for realizing the utility model, main task is to carry very
Sky derusting washer freedom and flexibility in large ship outside wall surface are creeped.The climbing robot of the utility model includes permanent magnetic suck
Formula crawler belt, harmonic speed reducer, motor are as dynamical system, vacuum derusting washer and other components, due to climbing robot
Market comparative maturity, other components are no longer described in detail in the present invention, and climbing robot is on sale in the market, such as the U.S.
The Hydro-Cat robot that flow company develops, the KAMAT climbing robot etc. that German Kamat company develops, various models
Climbing robot is different in following critical component.
Firstly, climbing robot need it is sufficiently tight be adsorbed in ship outside wall surface, climbing robot is needed to steel
Wall surface will have the adsorption capacity of sufficiently large safety, to prevent from falling off suddenly during the work time；Secondly as climbing robot exists
During creeping, behind to need to drag be that high-pressure water derusts needed for providing the high-pressure water pipe of high pressure water, vacuum drawn waste residue
Water pipe and power cable.So climbing robot will have sufficiently large load work capacity, load weight just be frequently can lead to
Driving is difficult, therefore robot will have powerful drive system；Finally, due to which the ship outside wall surface of climbing robot operation is simultaneously
Plane but curved surface, and there are also the obstacles such as weld seam, thus climbing robot need preferable adaptive capability on wall surface and
Good obstacle climbing ability.
Permanent magnetic adsorption-type crawler belt: the actual environment of the task and its work to be realized for ship wall-climbing robot for removing rust
Feature, carrying out reasonable Design of Mechanical Structure to each functional module of ship wall-climbing robot for removing rust is not influencing flexibly to walk substantially
Load capacity, adaptive capability on wall surface and obstacle climbing ability, permanent magnetic suck mode are improved in the case where function to be mentioned for climbing robot
It for stable powerful adsorption capacity, and can reduce climbing robot sole mass, and the trouble such as reduction wiring, be that optimal selection is carried out
Belt walking manner, it is big with wall surface contact area, magnetic sucking mechanism can be installed on crawler belt, crawler-type traveling is when turning to
Pulling force is larger in crawler belt, and for wall surfaces of ships there are soil, iron rust skin etc., working environment is severe, and permanent magnetic suck unit will facilitate installation
The sprocket wheel chain kind of drive for being suitable for low-speed heave-load is selected taking into account the above with formation permanent magnetism crawler belt on crawler belt, herein using double
Chain drive is arranged, to increase the service life of transmission mechanism.
The power of climbing robot is using the AC servo machinery driving that staring torque is larger, stability is good, due to climbing wall
Sliding friction when robot is turned to using crawler type causes driving moment larger, need to be improved using the retarder of big retarding ratio
Driving moment.In common retarder in the case where same reduction ratio and rated output torque, harmonic speed reducer have it is small in size,
It is light-weight, the characteristics of, using harmonic speed reducer.
Vacuum derusting washer is the critical component for realizing high-pressure water derusting and vacuum drawn waste water and dregs.Washer exists
Under vacuum cleaned cover and hairbrush collective effect, sealing space is formed.Multiple high-pressure water nozzles, high pressure are installed in vacuum cleaned cover
Angle between sprinkler head and wall surfaces of ships is adjustable, drives rotation by gas motor when work.Vacuum cleaned cover periphery peace
There are four universal wheel, universal wheels to contact with wall surfaces of ships for dress, prevents from contacting generation sliding between vacuum cleaned cover and wall surfaces of ships
Frictional resistance, while vacuum cleaned cover being avoided to be worn in vacuum chamber because of friction, there are high-pressure water jet rotational flow field, super-pressure
The temperature field (about 70 degrees Celsius) that water jet is formed, vacuum field caused by vacuum, it is compound the result is that: water jet has stripped rust
Layer, vacuum-flow have swept away rust bits and waste residue, temperature field have been dried in time by operation surface.Then, it is realized with water derusting i.e. dry
It removes and does not return rust.
The vacuum recovering apparatus, by vortex pump, storage rust tank, sewage pump, valve, separator, filter, water storage tank and
Electrical control cabinet composition.
Further, the method for the recycling iron rust waste liquid of the vacuum recovering apparatus includes:
Vortex pump and storage rust tank will be become rusty water by inhaling rust piping connection, the vacuum that vortex pump generates by inhaling rust pipeline
Equal mixtures are drawn onto storage rust tank；
Sewage pump is connect with storage rust tank, and when liquid level reaches set amount in storage rust tank, separator separates impurity and water, sewage pump
By most of water discharge storage rust tank in mixture；
The valve for releasing iron rust is arranged in storage rust pot bottom；
Sewage pump is connected to filter, and one secondary filtration of filter intercepts iron rust and water, the filter core of filter respectively
Iron rust is intercepted in draining, the water of filtering is stored in water storage tank；
Electrical control cabinet controls the work of vortex pump and sewage pump, starts above-mentioned vortex pump and dirt when meeting condition
Water pump.
The control device of climbing robot is responsible for completing walking to climbing robot and turning to, hand over online with operator
Mutually, high-pressure water jet rotating jet mechanism kinematic, vacuum recovery system operation function control, make derusting cleaning climbing robot
Work can be gone according to the manipulation of scheduled track or operator.Entire control system uses upper and lower computer framework, control dress
The host computer as system is set, be responsible for receiving the manipulation command of operator and order is transmitted to slave computer controller system, and
Cleaning robot job status information and failure diagnosis information that display slave computer returns in real time are received simultaneously；Slave computer control
Device system is to clean the core of climbing robot control system, is responsible for the Operation control of entire cleaning robot equipment, packet
Include ultra-high pressure water fluid jet cleaning TRAJECTORY CONTROL and parameter configuration, climbing robot trajectory motion control, vacuum recovery system operation
Control, equipment fault diagnosis and safety pretreatment, on-line operation communicate five functional modules.The control device is in reliability design
Aspect, all devices are using industrial grade standard, using the hardware design circuit of mature and reliable.Power unit increases prime protection electricity
Road: anti-surge voltage design, filtering and PTC restore fuse protection fastly.All numeral input mouths have RC low-pass filter, own
External interface is designed using electromagnetic isolation, and total interface is equipped with dedicated ESD protective device, and entire control panel can be anti-interference, anti-
Electrostatic, Electro Magnetic Compatibility reach industrial level Four.Remote controler is wirelessly communicated by way of wireless data transmission to climbing robot
Master controller sends all kinds of control instructions, controls the various movements of climbing robot.In specific embodiment of the utility model,
It is wirelessly transferred communication distance and is greater than 200 meters；Communication speed is@9600bps；Support point-to-point matching operation, it can at same scene
Realize 256 pairs it is point-to-point simultaneously, in real time, reliable communication；LCD MODULE energy display working condition and data；Low-power consumption,
It can continuous work.
The some embodiments of the utility model above described embodiment only expresses, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, several changes and improvements can also be made, these all belong to
In the protection scope of the utility model.
Claims (7)
- The cleaning system 1. ship based on climbing robot derusts characterized by comprisingClimbing robot, for being adsorbed on ship outer wall walking operations line by line lateral with climbing robot, longitudinal；Vacuum derusting washer, is arranged on climbing robot, multiple high-pressure water nozzles including spraying high-pressure water jet, effect High-pressure water jet on the rust face of ship outer wall configures the vacuum suction apparatus in nozzle sets periphery, passes through vacuum force The anvil cinder generated in descaling process and Sewage treatment are discharged；High pressure pump group is connect with vacuum derusting washer by pipeline, is that vacuum derusting washer inputs high pressure water by pipeline The other end of stream, high pressure pump group is connect with cleaning water source；Vacuum recovering apparatus is connect, for recycling the rust after climbing robot cleans with vacuum derusting washer by recovery tube Slag and waste water；Control device is communicated to connect with climbing robot, and the derusting parameter and control for climbing robot to be arranged climb wall machine Device people.
- The cleaning system 2. ship according to claim 1 derusts, which is characterized in that height caused by vacuum derusting washer Pressure water jet be used to derust operation operating pressure in 200MPa-300MPa, temperature caused by water jet is 55~90 °.
- The cleaning system 3. ship according to claim 1 derusts, which is characterized in that the climbing robot includes that permanent magnetism is inhaled Attached formula crawler belt, harmonic speed reducer, motor and vacuum derusting washer.
- The cleaning system 4. ship according to claim 1 derusts, which is characterized in that vacuum derusting washer includes that vacuum is clear Cover and hairbrush are washed, vacuum cleaned cover and hairbrush form sealing space, be equipped with multiple high-pressure water nozzles in vacuum cleaned cover, high It presses the angle between sprinkler head and wall surfaces of ships adjustable, is driven and rotated by gas motor.
- The cleaning system 5. ship according to claim 1 derusts, which is characterized in that the vacuum recovering apparatus, by vortex Air pump, storage rust tank, sewage pump, valve, separator, filter, water storage tank and electrical control cabinet composition.
- The cleaning system 6. ship according to claim 1 derusts, which is characterized in that control device is responsible for as host computer It receives the manipulation command of operator and order is transmitted to slave computer controller system, and receive display slave computer simultaneously and return in real time The cleaning robot job status information and failure diagnosis information returned.
- The cleaning system 7. ship according to claim 6 derusts, which is characterized in that the control system conduct of climbing robot Slave computer is communicated with host computer, for being responsible for the Operation control of climbing robot, including ultra-high pressure water fluid jet cleaning TRAJECTORY CONTROL And parameter configuration, climbing robot trajectory motion control, vacuum recovery system Operation control, equipment fault diagnosis and the pre- place of safety Reason, on-line operation communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821519749.7U CN208828065U (en) | 2018-09-17 | 2018-09-17 | Ship derusting cleaning system based on climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821519749.7U CN208828065U (en) | 2018-09-17 | 2018-09-17 | Ship derusting cleaning system based on climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208828065U true CN208828065U (en) | 2019-05-07 |
Family
ID=66313563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821519749.7U Expired - Fee Related CN208828065U (en) | 2018-09-17 | 2018-09-17 | Ship derusting cleaning system based on climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208828065U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110397563A (en) * | 2019-08-01 | 2019-11-01 | 上海电气风电集团有限公司 | A kind of climbing robot for wind electricity blade operation |
| CN111498041A (en) * | 2020-04-17 | 2020-08-07 | 中船黄埔文冲船舶有限公司 | Ship rust removal device |
| CN111556094A (en) * | 2020-03-31 | 2020-08-18 | 中信重工机械股份有限公司 | Internet of things cloud platform system based on high-pressure water jet robot |
| CN113042445A (en) * | 2021-04-09 | 2021-06-29 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
| CN117184353A (en) * | 2023-09-25 | 2023-12-08 | 江苏云洲智能科技有限公司 | Wall climbing trolley for ship rust removal |
| CN117302446A (en) * | 2023-04-03 | 2023-12-29 | 淄博蓝谷商贸有限公司 | Hull cleaning system |
-
2018
- 2018-09-17 CN CN201821519749.7U patent/CN208828065U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110397563A (en) * | 2019-08-01 | 2019-11-01 | 上海电气风电集团有限公司 | A kind of climbing robot for wind electricity blade operation |
| CN111556094A (en) * | 2020-03-31 | 2020-08-18 | 中信重工机械股份有限公司 | Internet of things cloud platform system based on high-pressure water jet robot |
| CN111556094B (en) * | 2020-03-31 | 2021-06-15 | 中信重工机械股份有限公司 | Internet of things cloud platform system based on high-pressure water jet robot |
| CN111498041A (en) * | 2020-04-17 | 2020-08-07 | 中船黄埔文冲船舶有限公司 | Ship rust removal device |
| CN113042445A (en) * | 2021-04-09 | 2021-06-29 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
| CN117302446A (en) * | 2023-04-03 | 2023-12-29 | 淄博蓝谷商贸有限公司 | Hull cleaning system |
| CN117184353A (en) * | 2023-09-25 | 2023-12-08 | 江苏云洲智能科技有限公司 | Wall climbing trolley for ship rust removal |
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Granted publication date: 20190507 Termination date: 20200917 |