CN214729550U - Crawler-type robot for dynamically removing rust on ship bottom by small steel balls - Google Patents
Crawler-type robot for dynamically removing rust on ship bottom by small steel balls Download PDFInfo
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- CN214729550U CN214729550U CN202023124270.3U CN202023124270U CN214729550U CN 214729550 U CN214729550 U CN 214729550U CN 202023124270 U CN202023124270 U CN 202023124270U CN 214729550 U CN214729550 U CN 214729550U
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Abstract
The utility model discloses a ship bottom small steel ball dynamic rust removal crawler-type robot, which comprises a crawler-type traveling system, a vehicle body frame, a lifting system, a rotary swing arm system and at least one small steel ball dynamic rust removal mechanism, wherein the vehicle body frame is fixedly connected with the crawler-type traveling system; the lifting system is fixedly arranged on the vehicle body frame; the rotary swing arm system comprises a rotary base and a swing arm, the rotary base is arranged on the lifting system in a rotary mode, and the bottom end of the swing arm is arranged on the rotary base in a rotary mode; each small steel ball dynamic rust removing mechanism comprises a rotary driving piece, an electromagnet, a rotary disc and a plurality of steel balls, the rotary disc is connected with the output end of the driving piece, the rotary disc can be attached to a ship working surface to form a closed space, the steel balls are arranged in the rotary disc, the electromagnet is arranged at the bottom of the rotary disc to adsorb or release the steel balls, and when rust removing operation is carried out, the steel balls impact the ship working surface in the closed space under the driving of the driving piece. The robot has stable integral operation and good derusting effect.
Description
Technical Field
The utility model belongs to the technical field of mobile robot, especially, relate to boats and ships bottom small steel ball developments rust cleaning crawler-type robot.
Background
The ship is corroded by water when sailing in water all year round, the surface of the ship body can be repaired once every three years to remove rust, the surface of the ship body comprises ship body surfaces on two sides and a ship bottom surface, the conventional rust removing mode is ultrahigh pressure water jet flow rust removing and shot blasting rust removing, and a manual handheld rust removing gun is usually used for regional rust removing on the ship bottom surface, so that the mode causes great pollution and certain damage to a human body; for the problem, in the prior art, wall-climbing robots are used for carrying cleaning devices mostly, but due to the limitation of a conventional rust removal mode, the wall-climbing robots are required to have higher load capacity, so that the steering and walking difficulty of the wall-climbing robots are increased.
In a Chinese granted patent 'a ship wall surface rust removal wall climbing robot (CN 201633804U)', rust removal is carried out by adopting an ultrahigh pressure water jet mode, a permanent magnet adsorption unit is arranged on a crawler, the loading capacity is about 140kg, the movement resistance is large, and turning is very inflexible. In a Chinese granted patent 'ship bottom rust removing robot and a working arm assembly (CN 210681088U)', rust removal is carried out in a high-pressure water jet mode, a large arm and a telescopic arm which can be relatively telescopic are carried with a rust removing device, and the large arm and the telescopic arm can be controlled through corresponding hydraulic systems, but the whole machine is too heavy and can only move in a limited space, so that the operability is reduced.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in the big defect of recoil force heavy load and the big pollution problem of peening rust cleaning to ultrahigh pressure water jet rust cleaning among the prior art to and solve artifical handheld rust cleaning rifle to the damageability problem of human body self, but provide a shipping bottom little steel ball developments rust cleaning crawler robot of journey operation and waste residue recoverable.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a crawler-type robot for dynamically removing rust from small steel balls at the bottom of a ship, which comprises a crawler-type traveling system, a vehicle body frame, a lifting system, a rotary swing arm system and at least one dynamic rust removing mechanism for small steel balls,
the crawler-type walking system is used for realizing the walking of the robot;
the vehicle body frame is fixedly connected with the crawler-type traveling system;
the lifting system is fixedly arranged on the vehicle body frame to realize the lifting of the robot;
the rotary swing arm system is arranged on the lifting system and comprises a rotary base and a swing arm, the rotary base is arranged on the lifting system in a rotary mode, and the bottom end of the swing arm is rotatably arranged on the rotary base;
every little steel ball developments rust cleaning mechanism all sets up the top of swing arm all includes rotary driving piece, electro-magnet, rotary disk and a plurality of steel ball, the rotary disk with the output of driving piece is connected just the rotary disk can laminate in order to form airtight space on the boats and ships working face, and is a plurality of the steel ball all sets up in the rotary disk, the electro-magnet sets up the bottom of rotary disk is in order to adsorb or to release the steel ball, when carrying out the rust cleaning operation, and is a plurality of the steel ball is in under the drive of driving piece and striking in the airtight space the boats and ships working face.
Furthermore, gyration swing arm system still includes gyration driving piece, band pulley and synchronous belt, gyration driving piece is fixed on the operating system, the band pulley is fixed to be set up gyration driving piece's output is in order to rotate, synchronous belt's a pot head is established on the band pulley, another pot head is established on the rotating base. The rotary driving piece drives the belt wheel to rotate, so that the rotary base can be driven to rotate through the synchronous belt, and the rust removal working direction of the robot can be changed.
Furthermore, the rotary swing arm system further comprises a swing arm driving piece, and the bottom end of the swing arm is connected with the swing arm driving piece to rotate under the driving of the swing arm driving piece.
Furthermore, each small steel ball dynamic rust removing mechanism also comprises a supporting seat;
the rotary swing arm system and still be provided with connecting plate and apron between the little steel ball developments rust cleaning mechanism, the connecting plate with the top fixed connection of swing arm, the apron is located the connecting plate top and with the connecting plate is articulated, every among the little steel ball developments rust cleaning mechanism the rotary driving spare is all fixed on the apron, and the output all passes the bearing with the rotary disk is connected, the electro-magnet sets up on the bearing.
Further, still include the torsional spring, the torsional spring setting is in the connecting plate with between the apron.
Further, still include the first spring of universal joint, first spring setting is in the connecting plate with between the apron. The angle of the rotating disc can be adjusted through the universal coupling to adapt to the change of the angle of the derusting working surface, and the rotating disc can be flexibly attached to the derusting working surface through the first spring.
Further, the lifting system is a scissor lifting device.
Further, it includes the top platform to cut fork elevating gear, and two are X form and can take place the pivoted around the jackshaft and cut the fork unit, and double-phase is relative the setting is in the first sliding guide and the two relative settings of automobile body frame's upper surface are in on the top platform and with first sliding guide is located the second sliding guide with one side, two it sets up relatively to cut the fork unit, and two it equallys divide equally to lie in two free tip with one side in the fork unit do not with automobile body frame with the top platform rotates to be connected, lie in two free tip of opposite side equally divide do not with sliding guide and second sliding guide sliding connection.
Furthermore, the scissor lifting device also comprises a screw rod driving motor, a screw rod, a sliding part, two first sliding blocks, two second sliding blocks and a supporting shaft,
the two first sliding blocks are respectively arranged in the two first sliding guide rails in a sliding manner and are rotatably connected with the two free end parts of the two scissor units, and the two second sliding blocks are respectively arranged in the two second sliding guide rails in a sliding manner and are rotatably connected with the other two free end parts of the two scissor units;
the screw rod is rotationally connected with an output shaft of the screw rod driving motor;
the sliding piece is arranged on the screw rod;
the two ends of the supporting shaft are fixedly connected with the two first sliding blocks respectively, and the supporting shaft is connected with the sliding piece.
Furthermore, the crawler-type traveling system comprises two traveling units which are oppositely arranged on two sides of the vehicle body frame and a driving unit which drives the traveling units to travel.
Compared with the prior art, the utility model discloses following beneficial effect has:
the walking mechanism adopts crawler belts on two sides and adopts a rear wheel motor driving mode, flexible movement can be realized, and the obstacle crossing performance is excellent; the contact area of the crawler belt and the ground is large, the material strength is high, the driven wheel is provided with the spring tensioning device, the crawler belt can adapt to different road surface working conditions, and the stability and the safety of the system during rust removal movement are guaranteed.
2 the utility model discloses a little steel ball developments rust cleaning mechanism pass through torsional spring and universal joint with the rocking arm and be connected, and also the design has the spring to link to each other bearing and connecting plate during rust cleaning mechanism assembly, can realize the flexible laminating of boats and ships curved surface that has certain angle, has enlarged the range of application that can rust cleaning.
3 the utility model discloses with crawler-type running gear, elevating system, gyration swing arm mechanism combination form an organic whole, full play can part advantage, chassis removal in the rust cleaning in-process of adaptable boats and ships bottom, the laminating of rust cleaning device compresses tightly the boats and ships wall, and the overall process such as rust cleaning is retrieved through external negative pressure pipeline, and the contrast current rust cleaning mode recoil is big, pollutes high defect, and this utility model example has wide application prospect.
Drawings
Fig. 1 is a three-dimensional view of the crawler-type robot for dynamically removing rust from small steel balls at the bottom of a ship provided by the embodiment of the utility model.
Fig. 2 is the embodiment of the utility model provides a lift platform enlargements of boats and ships bottom small steel ball developments rust cleaning crawler robot.
Fig. 3 is a cross sectional view of a single dynamic derusting mechanism of a crawler robot for dynamically derusting small steel balls at the bottom of a ship, which is provided by the embodiment of the utility model.
Fig. 4 is a schematic connection diagram of the connection board, the cover board and the small steel ball dynamic rust removing mechanism in the embodiment of the utility model.
Fig. 5 is a section view of a rotary rocker arm system of a ship bottom small steel ball dynamic rust removal crawler-type robot provided by the embodiment of the utility model.
In the figure: a crawler type traveling system-1, a vehicle body frame-2, a lifting system-3, a rotary rocker arm system-4, a small steel ball dynamic rust removing mechanism-5, a traveling driving motor-1.1, a driving chain wheel-1.3, a traveling crawler-1.6, a driven wheel-1.7, a guide wheel-1.8, a spring tensioning device-1.9, a screw rod-3.1, a sliding part-3.2, a screw rod driving motor-3.3, a first sliding block-3.4, a first sliding block guide rail-3.5, a shearing fork unit-3.6, a supporting shaft-3.7, a supporting shaft hole-3.8, a top end platform-3.9, a rotary base-4.1, a rocker arm-4.2, a rotary driving part-4.3, a swing arm driving part-4.4, a harmonic reducer-4.5, a harmonic reducer-4.10-a small steel ball-5.1, a rotary disk-5.2, an electromagnet-5.3, a rotary driving part-5.5, a supporting seat-6, a sound wave camera head-7, a sound wave distance measuring instrument-13.1 and a connecting plate, mounting lug seats-9.1, a torsion spring-10, a universal coupling-11, a spring-12, a cover plate-13 and a circuit board group-14.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in figure 1, the embodiment of the utility model provides a boats and ships bottom tiny steel ball developments rust cleaning crawler-type robot includes crawler-type traveling system 1, body frame 2, operating system 3, gyration swing arm system 4 and at least one tiny steel ball developments rust cleaning mechanism 5.
The crawler-type traveling system 1 comprises two traveling units which are oppositely arranged on two sides of the vehicle body frame 2, each traveling unit comprises a traveling driving motor 1.1, a driving chain wheel 1.3 fixedly connected with the traveling driving motor 1.1, a driven wheel 1.7 and a traveling crawler 1.6, and two ends of the traveling crawler 1.6 respectively bypass the driving chain wheel 1.3 and the driven wheel 1.7. The walking driving motor 1.1 works to drive the driving chain wheel 1.3 to rotate, and then the walking crawler belt 1.6 is driven to realize the walking of the robot.
In this embodiment, guide wheels 1.8 for guiding the traveling crawler 1.6 are respectively provided on both sides of the vehicle body frame 2.
In this embodiment, each walking unit further includes a spring tensioning device 1.9 connected to the driven wheel 1.7, and the tensioning force can be adjusted by a spring on the spring tensioning device 1.9.
As shown in fig. 1 and 2, the vehicle body frame 2 is provided with a mounting plane, the lifting system 3 is fixedly arranged on the mounting plane of the vehicle body frame 2, and the height of the robot can be adjusted as required by the lifting system 3, so that the derusting operation can be performed on the wall surfaces of ships at different heights. The lifting system 3 adopts a scissor lifting device. Specifically, the lifting system 3 in this embodiment includes a top end platform 3.9 located above the installation plane of the body frame 2, two scissor units 3.6 that are arranged between the installation plane and the top end platform 3.9, are in an X shape, and can rotate around an intermediate shaft, two first sliding guide rails 3.5 that are oppositely arranged on the installation plane, and two second sliding guide rails that are oppositely arranged on the top end platform 3.9 and located on the same side as the first sliding guide rails 3.5, the two scissor units are oppositely arranged, and referring to fig. 2, the bottom end and the top end located on the left side in the two scissor units are respectively rotatably connected with the body frame 2 and the top end platform 3.9, and the bottom end and the top end located on the right side are respectively slidably connected with the corresponding first sliding guide rails 3.5 and the second sliding guide rails.
In this embodiment, the lifting system 3 includes a screw rod driving motor 3.3, a screw rod 3.1, a sliding member 3.2, two first sliding blocks 3.4, two second sliding blocks and a supporting shaft 3.7, the two first sliding blocks 3.4 are respectively slidably disposed in the two first sliding guide rails 3.5 and rotatably connected to the bottom ends of the two scissor units on the right side, and the two second sliding blocks are respectively slidably disposed in the two second sliding guide rails and rotatably connected to the top ends of the two scissor units on the right side; one end of the screw rod 3.1 is rotatably connected with an output shaft of the screw rod driving motor 3.3, the other end of the screw rod 3.1 is rotatably arranged in a fixed block fixed on the mounting plane through a supporting shaft hole 3.8, the sliding part 3.2 is arranged on the screw rod 3.1, two ends of the supporting shaft 3.7 are respectively fixedly connected with the two first sliding blocks 3.4, and the supporting shaft 3.7 is connected with the sliding part 3.2. The slide 3.2 in this embodiment is a nut. The screw rod driving motor 3.3 works to drive the screw rod 3.1 to rotate, the sliding part 3.2 moves left and right under the driving of the screw rod 3.1, and then the supporting shaft 3.7 fixedly connected with the sliding part is driven to move, two first sliding blocks 3.4 fixedly connected with the supporting shaft 3.7 slide in the first sliding guide rails 3.5 along with the movement of the supporting shaft 3.7, so that two scissor units rotatably connected with the supporting shaft are driven to rotate respectively, and the robot can lift.
Referring to fig. 1 and 5, a rotary swing arm system 4 is arranged on a top platform 3.9 of a lifting system 3, and comprises a rotary base 4.1, a harmonic reducer 4.5, a synchronous belt, a belt pulley, a housing, a swing arm 4.2, a rotary driving member 4.3 and a swing arm driving member 4.4, the rotary driving member 4.3 is fixedly arranged on the top platform 3.9, the belt pulley is fixedly arranged at a rotary output end of the rotary driving member 4.3, two ends of the synchronous belt are respectively wound at the bottom of the belt pulley and the rotary base 4.1, the rotary base 4.1 is rotatably arranged on the top platform 3.9, a mounting groove is arranged on the rotary base 4.1, the swing arm driving member 4.4 is fixed on a side wall of the rotary base 4.1, the harmonic reducer 4.5 is connected with an output end of the swing arm driving member 4.4, a bottom end of the swing arm 4.2 and an output end of the harmonic reducer 4.5 are rotatably arranged in the mounting groove through a spline shaft 4.10, a top end is connected with a small steel ball dynamic steel ball mechanism 5, and the housing is mounted outside the harmonic reducer 4.5, and the function of protection and isolation is achieved. The rotary drive 4.3 and the swing arm drive 4.4 in this embodiment are both motors. When the device works, the rotary driving piece 4.3 is started, and the rotary base 4.1 can be driven to rotate on the top platform 3.9 through the belt wheel and the synchronous belt, so that the direction of the small steel ball dynamic derusting mechanism 5 is adjusted to adapt to derusting working surfaces at different positions, and the flexibility is strong.
Swing arm 4.2's top is fixed and is provided with a connecting plate 9, the top of connecting plate 9 articulates there is a apron 13, thereby realize the connection of little steel ball developments rust cleaning mechanism 5 and gyration swing arm system 4, specifically, the fixed installation ear seat 9.1 that is provided with on connecting plate 9, the bottom surface of apron 13 is provided with connecting lath 13.1, connecting lath is connected in order to realize the articulated between connecting plate 9 and the apron 13 through round pin axle and installation ear seat, it can be understood, can set up a plurality of installation ear seats and a plurality of corresponding connecting laths, in order to strengthen the connection stability between connecting plate 9 and the apron 13.
The small steel ball dynamic rust removing mechanisms 5 are arranged on the cover plate 13, the number of the small steel ball dynamic rust removing mechanisms 5 can be set according to needs, each small steel ball dynamic rust removing mechanism 5 comprises a supporting seat 5.5, a rotary driving part 5.4, an electromagnet 5.3, a rotary disk 5.2 and a plurality of steel balls 5.1, the rotary driving part 5.4 is fixed on the cover plate 13, the output end of the rotary driving part is upward, the supporting seat 5.5 is positioned above the rotary driving part 5.4, the electromagnet 5.3 is arranged on the supporting seat 5.5, the rotary disk 5.2 is positioned at the top of the electromagnet 5.3, the rotary disk 5.2 is connected with the output end of the rotary driving part 5.4, the rotary disk 5.2 can be attached to the working surface of a ship to form a closed space, and the plurality of steel balls 5.1 are arranged in the rotary disk 5.2. When the device works, the rotating disc 5.2 is attached to the wall surface of a ship to form a closed space, the small steel balls are driven by the rotating driving electric part 5.4 through the rotating disc 5.2 to impact freely in the closed space, and surface iron rust is removed through the interaction of short-distance impact, extrusion, friction and the like between the small steel balls and the working surface of the ship, so that the aim of removing rust is fulfilled; when not in work, the electromagnet 5.3 is electrified and sucks the small steel ball to prevent the small steel ball from falling.
In this embodiment, the rotary driving member 5.4 is a motor, a universal coupling 11 is further arranged between the motor and the rotary disk 5.2, at least one first spring 12 is further arranged between the cover plate 13 and the supporting seat 5.5, and the flexible attachment of the rotary disk 5.2 and the wall surface can be realized when the direction of the rotary disk 5.2 is adjusted through the spring force of the first spring 12, that is, when the wall surface of the ship forms a certain angle, the dynamic derusting mechanism 5 with small steel balls can still be tightly attached.
In this embodiment, a torsion spring 10 is further disposed between the cover plate 13 and the support base 5.5, so that flexible attachment can be further achieved.
In this embodiment, the number of the small steel ball dynamic rust removing mechanisms 5 is 3. The three small steel ball dynamic rust removing mechanisms 5 are all positioned in the rust removing housing, and the bottom of the rust removing housing is fixed on the cover plate 13.
In this embodiment, the vehicle body frame 2 is provided with a safety bar for protecting the entire machine.
In this embodiment, the vehicle body frame 2 is further provided with a circuit board group 14, an acoustic distance meter 7 for detecting a distance between the robot and an obstacle, and a camera 6.
The rust removal crawler-type robot provided by the embodiment has flexible movement and large load capacity, can be used for removing rust on the surface of a flat hull and also on a curved inclined surface with an inclination angle, has small environmental pollution and has wide application prospect.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. Boats and ships bottom small steel ball developments rust cleaning crawler-type robot, its characterized in that: comprises a crawler-type traveling system (1), a vehicle body frame (2), a lifting system (3), a rotary swing arm system (4) and at least one small steel ball dynamic rust removing mechanism (5),
the crawler-type walking system (1) is used for realizing walking of the robot;
the vehicle body frame (2) is fixedly connected with the crawler type traveling system (1);
the lifting system (3) is fixedly arranged on the vehicle body frame (2) to realize the lifting of the robot;
the rotary swing arm system (4) is arranged on the lifting system (3) and comprises a rotary base (4.1) and a swing arm (4.2), the rotary base (4.1) is arranged on the lifting system (3) in a rotary mode, and the bottom end of the swing arm (4.2) is rotatably arranged on the rotary base (4.1);
every little steel ball developments rust cleaning mechanism (5) all set up the top of swing arm (4.2) all includes rotary driving piece (5.4), electro-magnet (5.3), rotary disk (5.2) and a plurality of steel ball (5.1), rotary disk (5.2) with the output of driving piece (5.4) is connected just rotary disk (5.2) can laminate on boats and ships working face in order to form airtight space, and is a plurality of steel ball (5.1) all sets up in rotary disk (5.2), electro-magnet (5.3) set up the bottom of rotary disk (5.2) is in order to adsorb or to relieve steel ball (5.1), when carrying out the rust cleaning operation, and is a plurality of steel ball (5.1) are in under the drive of driving piece (5.4) and striking in the airtight space boats and ships working face.
2. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 1, is characterized in that: gyration swing arm system (4) still include gyration driving piece (4.3), band pulley (4.7) and synchronous belt (4.6), gyration driving piece (4.3) are fixed on operating system (3), band pulley (4.7) are fixed to be set up the output of gyration driving piece (4.3) is in order to rotate, synchronous belt (4.6) one pot head is established on band pulley (4.7), and another pot head is established on rotating base (4.1).
3. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 1, is characterized in that: the rotary swing arm system (4) further comprises a swing arm driving piece (4.4), and the bottom end of the swing arm (4.2) is connected with the swing arm driving piece (4.4) to rotate under the driving of the swing arm driving piece (4.4).
4. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 1, is characterized in that: each small steel ball dynamic rust removing mechanism (5) also comprises a supporting seat (5.5);
gyration swing arm system (4) with still be provided with connecting plate (9) and apron (13) between little steel ball developments rust cleaning mechanism (5), connecting plate (9) with the top fixed connection of swing arm (4.2), apron (13) are located connecting plate (9) top and with connecting plate (9) are articulated, every in little steel ball developments rust cleaning mechanism (5) rotatory driving piece (5.4) all fix on apron (13), and the output all passes bearing (5.5) with rotary disk (5.2) are connected, electro-magnet (5.3) set up on bearing (5.5).
5. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 4, is characterized in that: still include torsional spring (10), torsional spring (10) set up in connecting plate (9) with apron (13) between.
6. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 4, is characterized in that: still include universal joint (11) and first spring (12), universal joint (11) set up between rotary driving piece (5.4) and rotary disk (5.2), first spring (12) set up apron (13) with between bearing (5.5).
7. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 1, is characterized in that: the lifting system (3) is a scissor lifting device.
8. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 7, is characterized in that: cut fork elevating gear includes top platform (3.9), and two are X form and can take place the pivoted around the jackshaft and cut the fork unit, and double-phase is relative the setting is in first sliding guide (3.5) and double-phase of the upper surface of body frame (2) are in on top platform (3.9) and with first sliding guide (3.5) are located the second sliding guide with one side, two cut the relative setting of fork unit, and two cut two free ends that lie in same side in the fork unit equally divide do not with body frame (2) with top platform (3.9) rotate and connect, lie in two free ends of opposite side equally divide do not with sliding guide (3.5) and second sliding guide sliding connection.
9. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as claimed in claim 8, is characterized in that: the scissor lifting device also comprises a screw rod driving motor (3.3), a screw rod (3.1), a sliding part (3.2), two first sliding blocks (3.4), two second sliding blocks and a supporting shaft (3.7),
the two first sliding blocks (3.4) are respectively arranged in the two first sliding guide rails (3.5) in a sliding manner and are rotatably connected with the two free end parts of the two scissor units, and the two second sliding blocks are respectively arranged in the two second sliding guide rails in a sliding manner and are rotatably connected with the other two free end parts of the two scissor units;
the screw rod (3.1) is rotationally connected with an output shaft of the screw rod driving motor (3.3);
the sliding part (3.2) is arranged on the screw rod (3.1);
the two ends of the supporting shaft (3.7) are fixedly connected with the two first sliding blocks (3.4) respectively, and the supporting shaft (3.7) is connected with the sliding piece (3.2).
10. The crawler-type robot for dynamically removing rust on ship bottom small steel balls as in any one of claims 1 to 9, is characterized in that: the crawler-type traveling system (1) comprises two traveling units and a driving unit, wherein the two traveling units are oppositely arranged on two sides of the vehicle body frame (2), and the driving unit is used for driving the traveling units to travel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023124270.3U CN214729550U (en) | 2020-12-21 | 2020-12-21 | Crawler-type robot for dynamically removing rust on ship bottom by small steel balls |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023124270.3U CN214729550U (en) | 2020-12-21 | 2020-12-21 | Crawler-type robot for dynamically removing rust on ship bottom by small steel balls |
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| CN214729550U true CN214729550U (en) | 2021-11-16 |
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| CN202023124270.3U Expired - Fee Related CN214729550U (en) | 2020-12-21 | 2020-12-21 | Crawler-type robot for dynamically removing rust on ship bottom by small steel balls |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115177913A (en) * | 2022-07-12 | 2022-10-14 | 深圳市格睿尔科技有限公司 | Rehabilitation training bicycle and intelligent rehabilitation training speed matching method |
| CN118603067A (en) * | 2024-08-07 | 2024-09-06 | 中色十二冶金建设有限公司 | Factory building row frame post straightness detection device that hangs down |
-
2020
- 2020-12-21 CN CN202023124270.3U patent/CN214729550U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115177913A (en) * | 2022-07-12 | 2022-10-14 | 深圳市格睿尔科技有限公司 | Rehabilitation training bicycle and intelligent rehabilitation training speed matching method |
| CN115177913B (en) * | 2022-07-12 | 2024-04-19 | 深圳市格睿尔科技有限公司 | Rehabilitation training bicycle and intelligent rehabilitation training speed matching method |
| CN118603067A (en) * | 2024-08-07 | 2024-09-06 | 中色十二冶金建设有限公司 | Factory building row frame post straightness detection device that hangs down |
| CN118603067B (en) * | 2024-08-07 | 2024-10-15 | 中色十二冶金建设有限公司 | Factory building row frame post straightness detection device that hangs down |
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