CN209366415U - A kind of underwater climbing robot removed for ship attachment - Google Patents
A kind of underwater climbing robot removed for ship attachment Download PDFInfo
- Publication number
- CN209366415U CN209366415U CN201920004799.XU CN201920004799U CN209366415U CN 209366415 U CN209366415 U CN 209366415U CN 201920004799 U CN201920004799 U CN 201920004799U CN 209366415 U CN209366415 U CN 209366415U
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- China
- Prior art keywords
- fuselage
- chain
- climbing robot
- walking mechanism
- retarder
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Abstract
A kind of underwater climbing robot removed for ship attachment, including fuselage, retarder, walking mechanism, motor, assisted sucking disc, injection equipment, dynamic sealing device, preposition waterproof cameras, upper cover and postposition waterproof cameras, there are two the walking mechanisms, it is distributed in fuselage left side and right side, there are two the motors, it is separately mounted at left and right sides of fuselage interior, the assisted sucking disc is mounted on fuselage rear, the injection equipment is mounted on front fuselage, the preposition waterproof cameras is mounted in front of fuselage, and the postposition waterproof cameras is mounted on fuselage rear.High-pressure water jet spray head is integrated into robot by the utility model, reduce the labor intensity of worker, it improves work efficiency, by being sealed to robot and anti-corrosion treatment, it can adapt to seawater underwater operation condition, walking mechanism installs magnet additional and can move freely in hull surface, can observe track route, working effect etc. by waterproof cameras.
Description
Technical field
The utility model relates to a kind of underwater climbing robot removed for ship attachment, specifically a kind of bands
There is the sealing magnetically adsorbed wall-climbing robot of high-pressure water nozzle.
Background technique
China possesses 4,730,000 square kilometres of oceanic area, and the type of marine organisms is even more ten hundreds of, ship or its
He is immersed in marine environment underwater facility for a long time, it will inevitably by the pollution of marine growth, seriously affects even
The characteristic of its script is destroyed, so periodically underwater cleaning is rigid demand.A large amount of attachments of marine organisms can directly result in naval vessel
Surface smooth degree reduces, and the speed of a ship or plane is decreased obviously, and fuel consumption is significantly increased.Biological slime erosion surface steel construction, makes steel knot
The unstability of structure improves, and then brings security risk to the navigation of ship.
And in the removing operation of attachment, the removing task difficulty of underwater portion is bigger.Existing attachment, which is removed, to be made
Industry is mostly manual operation, and great work intensity, efficiency is lower, and steep for a long time the health of people can also be generated in water it is bad
It influences, attachment on the market, which removes robot majority, can only adapt to aquatic work environment, and underwater Scavenging activity is poor.
Utility model content
In view of the above-mentioned deficiencies, the utility model provides a kind of underwater wall-climbing device removed for ship attachment
People, it is therefore intended that improve the degree of automation that ship attachment removes operation, it is high, uneasy to solve existing artificial underwater operation intensity
Congruent problem.
The utility model is achieved through the following technical solutions: a kind of to climb wall machine under water for what ship attachment was removed
Device people, including fuselage, retarder, walking mechanism, motor, assisted sucking disc, injection equipment, dynamic sealing device, preposition waterproof cameras,
Upper cover and postposition waterproof cameras, there are two the retarders, is separately mounted to fuselage interior left front and right front, the walking
There are two mechanisms, is distributed in fuselage left side and right side, and there are two the motors, is separately mounted at left and right sides of fuselage interior, defeated
Axis connection reducer input shaft out, the assisted sucking disc are mounted on fuselage rear, and the injection equipment is mounted on front fuselage, institute
It states there are two dynamic sealing devices, is separately mounted to the tapping that two reducer output shafts are stretched out from fuselage, the preposition waterproof
Camera is mounted in front of fuselage, and camera lens tilts down, and the upper cover is fastened on body upper by soket head cap screw, and is equipped with
Criss-crossing reinforcing ribs, the postposition waterproof cameras are mounted on fuselage rear, and camera lens tilts down.
In a kind of underwater climbing robot removed for ship attachment above-mentioned, the walking mechanism includes chain magnetic
Iron, chain, sprocket wheel, non-slip rubber block, tensioning steamboat, tensioning flower basket bolt and damping device, the sprocket wheel have eight, symmetrical to pacify
In the walking mechanism of fuselage left and right sides, in each walking mechanism, before two sprocket wheels be drive sprocket, be mounted side by side on
On reducer output shaft, behind to connect sprocket wheel be driven sprocket, fuselage outer side is mounted on by bearing, the chain has four,
Be mounted on sprocket wheel, the chain bar magnet have it is several, across among two ipsilateral chains of fuselage, each chain bar magnet both ends
It is separately fixed at by backing-up screw on the chain link of two chain parallel positions, the non-slip rubber block has several, each chain magnetic
Iron two sides respectively install one, and there are four the tensioning steamboats, and installation one on the inside of every chain, the tensioning flower basket bolt has two
A, each bolt one end connects fuselage, and the other end connects two tensioning steamboats, and tensioning flower basket bolt both ends keep chain tight when stretching out
Taut, tensioning flower basket bolt both ends make chain relaxation when retracting, and the damping device has two sets, and every suit is made of two groups of springs,
It is respectively installed in each walking mechanism a set of.
It is above-mentioned it is a kind of for ship attachment remove underwater climbing robot in, the assisted sucking disc include disk body,
Universal wheel and suction magnet, the disk body are hinged on the rear of fuselage, and the universal wheel is distributed in the front and rear sides of each disk body,
The suction magnet is evenly spaced in disk body center, and it acts as enhancing suction, prevents from falling.
It is above-mentioned it is a kind of for ship attachment remove underwater climbing robot in, the injection equipment include baffle,
Spray head, water inlet pipe and T-type plate, the T-type plate are fixed on immediately ahead of fuselage by two bolts, and the baffle is welded on T-type plate
Front, the water inlet pipe rear connect high-pressure water pipe, and front is equipped with spray head, and there are three the spray heads, and nozzle direction is downward, and to
30 ° of top rake.
In a kind of underwater climbing robot removed for ship attachment above-mentioned, the dynamic sealing device is by four O
Type circle forms, and two O-rings are installed on the output shaft of each retarder.
In a kind of underwater climbing robot removed for ship attachment above-mentioned, the fuselage is sealing state, machine
Gasket is housed between body and upper cover and is coated with sealant.
In a kind of underwater climbing robot removed for ship attachment above-mentioned, the fuselage, assisted sucking disc, injection
Mechanism, upper cover and walking mechanism surface are coated with special seawater corrosion prevention coating, and the chain bar magnet and suction magnet are rubidium iron boron
Magnet, and zinc-plated processing is done to improve antiseptic property, the non-slip rubber block is the production of antiseptic rubber material.
Compared with prior art, high-pressure water jet spray head is integrated into robot by the utility model for novel the having the beneficial effect that
With, it is realized by the operation of operator on the coast and operation is removed to the attachment of marine surface, greatly reduce the labor of worker
Fatigue resistance, and improve efficiency；By being sealed to robot and anti-corrosion treatment, the underwater work of seawater can be adapted to
Make condition, walking mechanism and assisted sucking disc are worked together, can be moved freely in hull surface, and have certain obstacle detouring
The flexibility of ability, chain can walk on the surface of certain radian, and operator can observe it by preposition waterproof cameras
Track route observes its working effect by postposition waterproof cameras, and changes the running parameters such as the speed of travel according to passback image,
Improve working efficiency.
Detailed description of the invention
Attached drawing 1 is the general structure schematic diagram of the utility model；
Attached drawing 2 is the external structure and walking mechanism schematic diagram of the utility model Fig. 1；
Attached drawing 3 is the assisted sucking disc structural schematic diagram of the utility model Fig. 1；
Attached drawing 4 is the injection equipment structural schematic diagram of the utility model Fig. 1.
Attached drawing 5 is the dynamic sealing device structural schematic diagram of the utility model Fig. 1；
Attached drawing 6 is the superstructure schematic diagram of the utility model Fig. 2.
In figure, 1, fuselage, 2, retarder, 3, walking mechanism, 301, chain bar magnet, 302, chain, 303, sprocket wheel, 304, anti-
Sliding rubber block, 305, tensioning steamboat, 306, tensioning flower basket bolt, 307, damping device, 4, motor, 5, assisted sucking disc, 501, disk
Body, 502, universal wheel, 503, suction magnet, 6, injection equipment, 601, baffle, 602, spray head, 603, water inlet pipe, 604, T-type plate,
7, dynamic sealing device, 701, O-ring, 8, preposition waterproof cameras, 9, upper cover, 10, postposition waterproof cameras.
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.
Fig. 1, Fig. 2 and Fig. 6 are please referred to, the utility model provides a kind of technical solution: one kind is removed for ship attachment
Underwater climbing robot, including fuselage 1, retarder 2, walking mechanism 3, motor 4, assisted sucking disc 5, injection equipment 6, dynamic sealing
Device 7, preposition waterproof cameras 8, upper cover 9 and postposition waterproof cameras 10, there are two the retarders 2, is separately mounted in fuselage 1
Portion left front and right front, there are two the walking mechanisms 3, is distributed in 1 left side of fuselage and right side, and there are two the motors 4, point
It is not mounted on the 1 inside left and right sides of fuselage, 2 input shaft of axis connection retarder is exported, after the assisted sucking disc 5 is mounted on fuselage 1
Side, the injection equipment 6 are mounted on 1 front end of fuselage, and there are two the dynamic sealing devices 7, and it is defeated to be separately mounted to two retarders 2
The tapping that shaft is stretched out from fuselage 1, the preposition waterproof cameras 8 are mounted on 1 front of fuselage, and camera lens tilts down, described
Upper cover 9 is fastened on 1 top of fuselage by soket head cap screw, and is equipped with criss-crossing reinforcing ribs, and the postposition waterproof cameras 10 is installed
At 1 rear of fuselage, camera lens is tilted down.
Referring to Fig. 2, in a kind of underwater climbing robot removed for ship attachment above-mentioned, the walking mechanism
3 include chain bar magnet 301, chain 302, sprocket wheel 303, non-slip rubber block 304, tensioning steamboat 305, tensioning 306 and of flower basket bolt
Damping device 307, the sprocket wheel 303 have eight, are symmetrically mounted in the walking mechanism 3 of 1 left and right sides of fuselage, in each vehicle with walking machine
In structure 3, before two sprocket wheels 303 be drive sprocket 303, be mounted side by side on 2 output shaft of retarder, behind connect a sprocket wheel 303
For driven sprocket 303,1 outside of fuselage is mounted on by bearing, the chain 302 there are four, is mounted on sprocket wheel 303, described
Chain bar magnet 301 has several, and across among two ipsilateral chains 302 of fuselage 1, each 301 both ends of chain bar magnet pass through anti-
Loose screw is separately fixed on the chain link of two chains, 302 parallel position, and the non-slip rubber block 304 has several, each chain magnetic
301 two sides of iron respectively install one, and there are four the tensioning steamboats 305, one are installed on the inside of every chain 302, the tensioning flower
There are two basket bolts 306, and each bolt one end connects fuselage 1, and the other end connects two tensioning steamboats 305, is tensioned flower basket bolt
306 both ends keep chain 302 tight when stretching out, and tensioning 306 both ends of flower basket bolt make the relaxation of chain 302, the damping dress when retracting
Setting 307 has two sets, and every suit is made of two groups of springs, is respectively installed in each walking mechanism 3 a set of.
Referring to Fig. 3, in a kind of underwater climbing robot removed for ship attachment above-mentioned, the assisted sucking disc
5 include disk body 501, universal wheel 502 and suction magnet 503, and the disk body 501 is hinged on the rear of fuselage 1, the universal wheel
502 are distributed in the front and rear sides of each disk body 501, and the suction magnet 503 is evenly spaced in 501 center of disk body, it acts as
Enhance suction, prevents from falling.
Referring to Fig. 4, in a kind of underwater climbing robot removed for ship attachment above-mentioned, the injection equipment
6 include baffle 601, spray head 602, water inlet pipe 603 and T-type plate 604, and the T-type plate 604 is fixed on fuselage 1 by two bolts
Front, the baffle 601 are welded on 604 front of T-type plate, and 603 rear of water inlet pipe connects high-pressure water pipe, and front is equipped with spray
First 602, there are three the spray heads 602, and nozzle direction is downward, and turns forward 30 °.
Referring to Fig. 5, in a kind of underwater climbing robot removed for ship attachment above-mentioned, the dynamic sealing dress
It sets 7 to be made of four O-rings 701, two O-rings 701 is installed on the output shaft of each retarder 2.
Please refer to Fig. 1/6, in a kind of underwater climbing robot removed for ship attachment above-mentioned, the fuselage 1
For sealing state, gasket is housed between fuselage 1 and upper cover 9 and is coated with sealant.
Please refer to Fig. 1-6, in a kind of underwater climbing robot removed for ship attachment above-mentioned, the fuselage 1,
Assisted sucking disc 5, injection equipment 6, upper cover 9 and 3 surface of walking mechanism are coated with special seawater corrosion prevention coating, the chain bar magnet
301 and suction magnet 503 be nd-fe-b magnet, and do zinc-plated processing to improve antiseptic property, the non-slip rubber block 304 is anti-
Rotten rubber material production.
Working principle: when robot, which carries out attachment, removes work, walking mechanism 3 and assisted sucking disc 5 are in chain bar magnet
301 be tightly adsorbed on hull surface under the collective effect of suction magnet 503, since robot entire body seals, and be coated with
Anticorrosive paint all may be used on the water or under water so removing work.Start motor 4 at this time, power passes through retarder 2 from motor 4
Reduction of speed increase square and be transmitted to sprocket wheel 303 and chain 302, push robot to crawl toward near surface to be cleaned, open spray head 602 and open
It closes, high-pressure water jet is sprayed from three spray heads 602 for being located at 1 front of fuselage, and water jet is beaten on hull attachment, electric at this time
Machine 4 continues to press on robot and pushes ahead, and the attachment below robot ambulation track will be removed；In crossing over blockage
When, obstacle was rolled in the front end of walking mechanism 3 first, then proceeded to be drawn on ship, and the flexible chain 302 in walking mechanism 3 will be protected
Card robot rolled obstacle without falling, and was eventually positioned at the assisted sucking disc 5 at rear portion by obstacle；When two motors 4 turn to phase
Instead, and revolving speed is different, and robot will turn, and the attachment for continuing another direction removes work, so circulation until removing
Work finishes.
When carrying out attachment removing work, when especially working under water, underwater State is difficult to observe, at this time operator
Travelling route can be observed by the video data that preposition waterproof cameras 8 returns in real time, be turned around in time around the work such as barrier, fuselage
1 front and back is respectively provided with two headlamps, to guarantee image clearly, convenient for observation；Since 601 both ends of baffle of front are to open
Formula is put, after the attachment of marine surface is fallen by pressure water jets impact, will be discharged from both ends without stopping preposition anti-water phase
The visual field of machine 8；The situation that attachment is removed can be checked by postposition waterproof cameras 10, regulated the speed according to actual condition, hydraulic pressure
Etc. parameters, reach highest working efficiency.
Robot should carry out checking that upper cover 9 seals after hours in time, increase and apply the maintenance works such as anti-corrosion material, and
The sealing effect for checking dynamic sealing device 7, guarantees the normal operation of robot.
Although the utility model is described in detail with reference to the foregoing embodiments, come for those skilled in the art
Say, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all
It is included within the scope of protection of this utility model.
Claims (8)
1. a kind of underwater climbing robot removed for ship attachment including fuselage (1) and is arranged in fuselage (1) two sides
Walking mechanism (3), it is characterised in that: retarder (2), motor (4), dynamic sealing device (7) are equipped in the fuselage (1),
Fuselage (1) top is equipped with upper cover (9), preposition waterproof cameras (8) is arranged in the upper cover (9) front, postposition is arranged in rear portion
Waterproof cameras (10) is additionally provided with injection equipment (6) in the fuselage (1) front, and rear portion is equipped with assisted sucking disc (5)；
The motor (4) exports axis connection retarder (2) input shaft, and the dynamic sealing device (7) is mounted on retarder (2) output
The tapping that axis is stretched out from fuselage (1), the walking mechanism (3) are connected on the output shaft of the retarder (2), the fuselage
(1), assisted sucking disc (5), injection equipment (6), upper cover (9) and walking mechanism (3) surface are also coated with seawater corrosion prevention coating.
2. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
It states motor (4), retarder (2), dynamic sealing device (7) to be successively set on from back to front in the fuselage (1), and the motor
(4), retarder (2), dynamic sealing device (7) are respectively two sets, are symmetricly set in fuselage (1) centered on fuselage (1) axis.
3. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
Stating walking mechanism (3) includes chain bar magnet (301), chain (302), sprocket wheel (303), non-slip rubber block (304), tensioning steamboat
(305), being tensioned flower basket bolt (306) and damping device (307), the sprocket wheel (303) has eight, is symmetrically mounted on fuselage (1)
In the walking mechanism (3) of left and right sides, in each walking mechanism (3), before two sprocket wheels (303) be drive sprocket (303), and
Row is mounted on retarder (2) output shaft, behind to connect sprocket wheel (303) be driven sprocket (303), fuselage is mounted on by bearing
(1) outside, the chain (302) has four, is mounted on sprocket wheel (303), the chain bar magnet (301) have it is several, across
Two ipsilateral chains (302) of fuselage (1) are intermediate, and each chain bar magnet (301) both ends are separately fixed at two by backing-up screw
On the chain link of chain (302) parallel position, the chain bar magnet (301) is nd-fe-b magnet, and it is anti-to improve to do zinc-plated processing
Rotten performance, the non-slip rubber block (304) have it is several, for antiseptic rubber material make, each chain bar magnet (301) two sides are respectively pacified
One is filled, there are four the tensioning steamboats (305), installation one, the tensioning flower basket bolt on the inside of every chain (302)
(306) there are two, each bolt one end connects fuselage (1), and the other end connects two tensioning steamboats (305), is tensioned flower basket bolt
(306) keep chain (302) tight when both ends are stretched out, tensioning flower basket bolt (306) both ends make chain (302) relaxation, institute when retracting
Stating damping device (307) has two sets, and every suit is made of two groups of springs, respectively installs in each walking mechanism (3) a set of.
4. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
Stating assisted sucking disc (5) includes disk body (501), universal wheel (502) and suction magnet (503), and the disk body (501) is hinged on fuselage
(1) rear, the universal wheel (502) are distributed in the front and rear sides of each disk body (501), and the suction magnet (503) is uniform
It is arranged in disk body (501) center, is nd-fe-b magnet, and do zinc-plated processing.
5. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
Stating injection equipment (6) includes baffle (601), spray head (602), water inlet pipe (603) and T-type plate (604), and the T-type plate (604) is logical
It crosses two bolts to be fixed on immediately ahead of fuselage (1), the baffle (601) is welded on T-type plate (604) front, the water inlet pipe
(603) rear connects high-pressure water pipe, and front is equipped with spray head (602), and there are three the spray heads (602), and nozzle direction is downward, and to
30 ° of top rake.
6. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
It states dynamic sealing device (7) to be made of four O-rings (701), two O-rings is installed on the output shaft of each retarder (2)
(701)。
7. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
State upper cover (9) to be fastened on above fuselage (1) by soket head cap screw, and be equipped with criss-crossing reinforcing ribs, the fuselage (1) with it is upper
Gasket is also equipped between lid (9) and by sealing glue connection.
8. a kind of underwater climbing robot removed for ship attachment according to claim 1, it is characterised in that: institute
It states preposition waterproof cameras (8) camera lens to tilt down, postposition waterproof cameras (10) camera lens also tilts down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920004799.XU CN209366415U (en) | 2019-01-03 | 2019-01-03 | A kind of underwater climbing robot removed for ship attachment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920004799.XU CN209366415U (en) | 2019-01-03 | 2019-01-03 | A kind of underwater climbing robot removed for ship attachment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209366415U true CN209366415U (en) | 2019-09-10 |
Family
ID=67829142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920004799.XU Expired - Fee Related CN209366415U (en) | 2019-01-03 | 2019-01-03 | A kind of underwater climbing robot removed for ship attachment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209366415U (en) |
-
2019
- 2019-01-03 CN CN201920004799.XU patent/CN209366415U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190910 Termination date: 20200103 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |