CN214813066U - Rust removal and sewage recovery device of ship rust removal robot - Google Patents
Rust removal and sewage recovery device of ship rust removal robot Download PDFInfo
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- CN214813066U CN214813066U CN202120725339.3U CN202120725339U CN214813066U CN 214813066 U CN214813066 U CN 214813066U CN 202120725339 U CN202120725339 U CN 202120725339U CN 214813066 U CN214813066 U CN 214813066U
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Abstract
The utility model discloses a rust removal and sewage recovery device of a ship rust removal robot, which comprises a rust removal and sewage recovery device, wherein the rust removal and sewage recovery device is arranged in a frame of the ship rust removal robot; the derusting and sewage recycling device comprises a cleaning cover, a sealing gasket, a driving mechanism and a rotary high-pressure water jet system, wherein the cleaning cover is provided with an inner accommodating space for installing the rotary high-pressure water jet system, an open opening part is arranged at the bottom side of the inner accommodating space, the rotary high-pressure water jet system is connected with the driving mechanism outside the cleaning cover, and the driving mechanism drives the rotary high-pressure water jet system to rotate. The utility model discloses can clean the rust cleaning for boats and ships fast to rust cleaning and sewage after cleaing away carries out timely recovery processing, makes the permanent magnetism of boats and ships rust cleaning robot adsorb the track and can keep stronger adsorption affinity when crawling, thereby avoids the problem of toppling, can not cause the pollution of marine environment again simultaneously.
Description
Technical Field
The utility model belongs to the technical field of boats and ships rust cleaning robot, especially, relate to a rust cleaning and sewage recovery unit of boats and ships rust cleaning robot.
Background
At present, a ship rust removal robot generally adopts a permanent magnet adsorption mode to provide wall-climbing adsorption force for the robot, namely, a plurality of permanent magnet adsorption units are arranged on a chain of a crawler, when the crawler crawls, the permanent magnet adsorption units on the chain can continuously adsorb and separate from the wall surface of a ship board, so that the ship rust removal robot freely walks on the ship board, the robot walking on the ship wall body can move a cleaning device to different positions, a rocker arm in the cleaning device can conveniently eject copper ore sand from a spray gun at high speed from different angles to impact the ship wall surface, and the rust removal effect is achieved.
However, the existing ship rust removal robot generally adopts a permanent magnet adsorption mode to provide wall-climbing adsorption force for the robot, and after rust removal, the ship rust removal robot does not timely recover rust residues, so that when the ship rust removal robot climbs on a cleaned ship wall body, too much rust residues are adsorbed on a crawler belt of the ship rust removal robot, the magnetic adsorption force of a permanent magnet adsorption unit is weakened, and the problems of difficult walking and even overturning are caused; meanwhile, the existing ship rust removal robot generally adopts a traditional sand blasting rust removal mode, can not recover and treat the removed rust slag and sewage in time, and can also bring serious pollution to the environment.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rust cleaning and sewage recovery unit of boats and ships rust cleaning robot can clean the rust cleaning for boats and ships fast to rust slag and sewage after cleaing away carry out timely recovery processing, make the permanent magnetism of boats and ships rust cleaning robot adsorb the track and can keep stronger adsorption affinity when crawling, thereby avoid the problem of toppling, can not cause marine environment's pollution simultaneously again.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a rust removal and sewage recovery device of a ship rust removal robot comprises a rust removal and sewage recovery device, wherein the rust removal and sewage recovery device is arranged in a frame of the ship rust removal robot; the derusting and sewage recycling device comprises a cleaning cover, a sealing gasket, a driving mechanism and a rotary high-pressure water jet system, wherein the cleaning cover is provided with an inner accommodating space for installing the rotary high-pressure water jet system, an open opening part is arranged at the bottom side of the inner accommodating space, the rotary high-pressure water jet system is connected with the driving mechanism outside the cleaning cover and is driven to rotate by the driving mechanism, a vacuum pipe interface communicated with the inner accommodating space of the cleaning cover is further arranged on the side edge of the cleaning cover, and an external interface of the vacuum pipe interface is connected with a vacuum recycling system through a vacuum pipeline.
Furthermore, a sealing gasket is arranged on the edge of the opening part of the cleaning cover.
Furthermore, an elastic adjusting mechanism is arranged on the outer side of the cleaning cover and comprises a support frame, a telescopic rod, an expansion spring and a universal wheel, one end of the support frame is fixedly connected with the side edge of the cleaning cover, the other end of the support frame is far away from the cleaning cover and is vertically connected with the top end of the telescopic rod in a telescopic mode, the bottom end of the telescopic rod is connected with the universal wheel, the expansion spring is sleeved in the telescopic rod, the top end of the expansion spring is fixedly connected with the support frame, and the lower end of the expansion spring is connected with a steering seat of the universal wheel.
Furthermore, the number of the elastic adjusting mechanisms is four, and the four elastic adjusting mechanisms are respectively and symmetrically arranged on the outer side of the cleaning cover.
Furthermore, the rotary high-pressure water jet system comprises a rotary shaft, a six-way valve and a nozzle, wherein the rotary shaft is rotatably connected with a central shaft hole on the top side of the cleaning cover through a bearing, the top end of the rotary shaft is connected with a driving mechanism, the bottom end of the rotary shaft is uniformly provided with the nozzle through the six-way valve, and the rotary shaft is rotatably connected with a water inlet connecting pipe through a top end interface.
Further, actuating mechanism, including motor, motor cabinet, motor gear and rotating shaft gear, the motor passes through the motor cabinet and establishes the top side at the washing cover, be equipped with the motor gear on the output shaft of motor, the motor gear meshes with the rotating shaft gear mutually, the rotating shaft gear is taken over the rotation nature through the rotation axis and income water and is connected, it takes over to take over to establish on the motor cabinet through the income water, the motor passes through the motor gear and drives the rotating shaft gear and rotate, and the rotating shaft gear drives the rotation axis and rotates, and the rotation axis drives the nozzle rotation through six-way valve.
Furthermore, the cleaning cover is divided into an upper cover body and a lower cover body, the volume of the upper cover body is smaller than that of the lower cover body, and the upper cover body and the lower cover body are connected to form a step-type arrangement with a small upper part and a large lower part.
Further, the vacuum tube interface is provided in the superior cover.
Further, the sealing gasket is an annular silica gel ring, and the sealing gasket is fixedly arranged by mutually clamping an annular groove and an annular flange arranged at the edge of the opening part of the cleaning cover.
Further, the number of the nozzles is six, and the six nozzles are all arranged around the six-way valve.
The utility model has the advantages that: the utility model discloses improved on current rust cleaning robot's basis, adopted the vacuum closed rust cleaning operation to replace traditional rocking arm formula mode, adopt the rust cleaning mode of rotatory high-pressure water jet to replace traditional sandblast rust cleaning mode simultaneously, retrieve waste water and rust slag through vacuum recovery system, can reach clean and quick washing and recovery effect for this rust cleaning robot can walk freely on the wall body of boats and ships, has avoided toppling over and has solved environmental pollution's problem.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the bottom side structure of the present invention;
FIG. 3 is an exploded view of the present invention;
FIG. 4 is a schematic structural view of the cleaning cover of the present invention;
FIG. 5 is a schematic view of the sealing gasket of the present invention;
FIG. 6 is a schematic view of the vacuum tube interface on the cleaning hood of the present invention;
fig. 7 is an exploded view of the rotary high pressure water jet system of the present invention;
FIG. 8 is a schematic structural view of the water inlet pipe frame of the present invention;
fig. 9 is a schematic view of the structure of the rotating shaft of the present invention.
In the figure: the device comprises a cleaning cover 1, a sealing gasket 2, an annular groove 3, an annular flange 4, a supporting frame 5, an expansion rod 6, a telescopic spring 7, a universal wheel 8, a rotating shaft 9, a six-way valve 10, a nozzle 11, a bearing 12, a central shaft hole 13, a motor 14, a motor base 15, a motor gear 16, a rotating shaft gear 17, a water inlet pipe frame 18, a vacuum pipe interface 19 and a water inlet pipe 20.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 9, a rust removing and sewage recovering device of a ship rust removing robot includes a rust removing and sewage recovering device, the rust removing and sewage recovering device is disposed in a frame of the ship rust removing robot and is in contact with a wall body of a ship to work, the frame is driven by a permanent magnetic adsorption crawler to crawl on the wall body of the ship, the rust removing and sewage recovering device is carried by the frame to run to any position on the wall body of the ship to remove rust and recover rust residue and sewage after rust removing, the frame and the permanent magnetic adsorption crawler are prior art, or the permanent magnetic adsorption crawler only needs to crawl on the wall body of the ship by adsorption force, which is not described herein.
The rust removal and sewage recovery device comprises a cleaning cover 1, a sealing gasket 2, a driving mechanism and a rotary high-pressure water jet system, wherein the cleaning cover 1 is provided with an internal accommodating space for installing the rotary high-pressure water jet system, the bottom side of the internal accommodating space is provided with an open opening part, the rotary high-pressure water jet system is connected with the driving mechanism outside the cleaning cover 1, the driving mechanism drives the rotary high-pressure water jet system to rotate, so that the water spraying rust removal work of the rotary high-pressure water jet system is realized, the side edge of the cleaning cover 1 is also provided with a vacuum pipe interface 19 communicated with the internal accommodating space of the cleaning cover 1, the external interface of the vacuum pipe interface 19 is connected with a vacuum recovery system through a vacuum pipeline, and the rust slag and the waste water after the rotary high-pressure water jet system cleans the wall surface of a ship are timely and cleanly recovered, avoid sewage inflow sea environmental pollution, the vacuum recovery system is prior art, the vacuum recovery system also can be the vacuum recovery pump, and they only need to reach and absorb the sewage in the cleaning cover 1 and the rust slag that mixes together with sewage totally can.
Be equipped with sealed pad 2 on the border of the opening of washing cover 1, sealed pad 2 is annular silica gel circle, sealed pad 2 is fixed the setting through the mutual block of annular groove 3 and the annular flange 4 that the border of the opening of washing cover 1 set up, wash cover 1 and laminate each other through the sealed pad 2 of opening and the wall of boats and ships for the inside accommodation space of washing cover 1 forms a sealed vacuum space.
The outer side of the cleaning cover 1 is provided with an elastic adjusting mechanism, the elastic adjusting mechanism comprises a support frame 5, a telescopic rod 6, a telescopic spring 7 and a universal wheel 8, one end of the support frame 5 is fixedly connected with the side edge of the cleaning cover 1, the other end of the support frame is far away from the cleaning cover 1 and is in telescopic vertical connection with the top end of the telescopic rod 6, the bottom end of the telescopic rod 6 is connected with the universal wheel 8, the telescopic spring 7 is sleeved in the telescopic rod 6, the top end of the telescopic spring 7 is fixedly connected with the support frame 5, and the lower end of the telescopic spring is connected with a steering seat of the universal wheel 8, the elastic adjusting mechanism can ensure that the derusting robot has obstacle crossing capability, because the wall surface of a ship has a plurality of obstacles such as welding beading and welding seams, and the elastic adjusting mechanism can enable the derusting robot to stably cross the obstacles, improve the stability of the robot, and simultaneously enable the cleaning cover 1 to be tightly attached to the wall surface of the ship, to achieve a vacuum environment.
The number of the elastic adjusting mechanisms is four, and the four elastic adjusting mechanisms are respectively and symmetrically arranged on the outer side of the cleaning cover 1.
Rotatory high pressure water jet system, including rotation axis 9, six-way valve 10 and nozzle 11, rotation axis 9 passes through bearing 12 and washs the central shaft hole 13 rotatablely of the top side of cover 1 and is connected, the top and the actuating mechanism of rotation axis 9 are connected, and the bottom evenly is equipped with six nozzles 11 through six-way valve 10, six nozzles 11 are encircleing six-way valve 10 and set up, rotation axis 9 is connected through the bottom rotatablely of top interface and income water takeover 20, the top and the high pressure water piping connection of income water takeover 20, high pressure water piping is connected with the high-pressure pump package on ground, be equipped with the sealing washer between rotation axis 9 and the income water takeover 20.
Actuating mechanism, including motor 14, motor cabinet 15, motor gear 16 and rotation axis gear 17, motor 14 passes through motor cabinet 15 and establishes the top side at washing cover 1, be equipped with motor gear 16 on motor 14's the output shaft, motor gear 16 meshes with rotation axis gear 17 mutually, rotation axis gear 17 is connected through rotation axis 9 and 20 rotatability of takeover of intaking, it establishes on motor cabinet 15 through intaking takeover 20, motor 14 drives rotation axis gear 17 through motor gear 16 and rotates, and rotation axis gear 17 drives rotation axis 9 and rotates, and rotation axis 9 drives nozzle 11 rotatory through six-way valve 10, reaches the function of derusting for the wall of boats and ships through the rotatory jetted high-pressure rivers of six nozzles 11.
The cleaning cover 1 is divided into an upper cover body and a lower cover body, the volume of the upper cover body is smaller than that of the lower cover body, the upper cover body and the lower cover body are connected to form a step-type arrangement with a small upper part and a large lower part, and the vacuum pipe interface 19 is arranged in the upper cover body.
The utility model discloses an operation and control mode are:
1) a ship wall surface and a derusting cleaning process are adopted, a virtual manufacturing technology is combined, a ship derusting robot three-dimensional model is designed and assembled in Solidworks, and constraints are added to the established model, so that the model can move in a required mode.
2) And (3) offline planning is carried out on the path of the ship rust removal robot by using Solidworks software, and verification is carried out through simulation processing, so that the aim of guiding actual production is fulfilled.
3) The method comprises the following steps of: the ship rust removing robot starts from a certain point on the ship wall surface, and according to the zigzag track, the ship rust removing robot finishes the rust removing work by the rotary high-pressure water jet realized by connecting the high-pressure water pipe of the rotary shaft with the six nozzles, and the zigzag track is continuously repeated until the rust removing of the ship wall surface is finished.
The technical parameters of the utility model are:
firstly, during working, the moving speed of the ship rust removing robot is not less than 80 mm/s;
secondly, the cleaning working width of the rotary high-pressure water jet system is 350 mm;
thirdly, the self mass of the ship rust removing robot is less than 135 kg;
fourthly, the maximum load carried by the ship rust removing robot when climbing the wall is 90 kg;
fifthly, the obstacle crossing height of the ship rust removing robot is 30 mm;
sixthly, the remote control distance of the ship rust removing robot is not less than 150 mm.
In summary, the embodiments of the present invention have been chosen and described in detail for the purpose of better illustrating the technical solution of the present invention, and are not intended to be limited to the details shown. Any modification or equivalent replacement made by the technical solution of the present invention by those skilled in the art without departing from the spirit and scope of the technical solution of the present invention should be covered within the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a rust cleaning and sewage recovery unit of boats and ships rust cleaning robot which characterized in that: the device comprises a rust removal and sewage recovery device, wherein the rust removal and sewage recovery device is arranged in a frame of the ship rust removal robot;
derusting and sewage recovery device, including wasing cover (1), sealed pad (2), actuating mechanism and rotatory high-pressure water jet system, wash cover (1) and be equipped with the inside accommodation space who is used for installing rotatory high-pressure water jet system, the bottom side of inside accommodation space is equipped with an open opening, rotatory high-pressure water jet system is connected with the outside actuating mechanism of wasing cover (1), and it is rotatory by the rotatory high-pressure water jet system of actuating mechanism drive, the side of wasing cover (1) still is equipped with vacuum tube interface (19) that are linked together with the inside accommodation space who washs cover (1), the external interface of vacuum tube interface (19) passes through vacuum tube and is connected with vacuum recovery system.
2. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: and a sealing gasket (2) is arranged on the edge of the opening part of the cleaning cover (1).
3. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the cleaning device is characterized in that an elastic adjusting mechanism is arranged on the outer side of the cleaning cover (1), the elastic adjusting mechanism comprises a support frame (5), a telescopic rod (6), an expansion spring (7) and a universal wheel (8), one end of the support frame (5) is connected and fixed with the side edge of the cleaning cover (1), the other end of the support frame is far away from the cleaning cover (1) and is perpendicularly connected with the top scalability of the telescopic rod (6), the bottom end of the telescopic rod (6) is connected with the universal wheel (8), the expansion spring (7) is sleeved in the telescopic rod (6), the top end of the expansion spring (7) is fixedly connected with the support frame (5), and the lower end of the expansion spring is connected with a steering seat of the universal wheel.
4. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 3, wherein: the number of the elastic adjusting mechanisms is four, and the four elastic adjusting mechanisms are respectively and symmetrically arranged on the outer side of the cleaning cover (1).
5. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the rotary high-pressure water jet system comprises a rotary shaft (9), a six-way valve (10) and a nozzle (11), wherein the rotary shaft (9) is rotatably connected with a central shaft hole (13) on the top side of a cleaning cover (1) through a bearing (12), the top end of the rotary shaft (9) is connected with a driving mechanism, the bottom end of the rotary shaft is uniformly provided with the nozzle (11) through the six-way valve (10), and the rotary shaft (9) is rotatably connected with a water inlet connecting pipe (20) through a top end interface.
6. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: actuating mechanism, including motor (14), motor cabinet (15), motor gear (16) and rotation axis gear (17), motor (14) are established the top side at washing cover (1) through motor cabinet (15), be equipped with motor gear (16) on the output shaft of motor (14), motor gear (16) mesh with rotation axis gear (17) mutually, rotation axis gear (17) are connected through rotation axis (9) and income water takeover (20) rotatability, it establishes on motor cabinet (15) through income water takeover pipe support (18) to go into water takeover (20), motor (14) drive rotation axis gear (17) through motor gear (16) and rotate, and rotation axis gear (17) drive rotation axis (9) and rotate, and rotation axis (9) drive nozzle (11) rotation through six-way valve (10).
7. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 1, which is characterized in that: the cleaning cover (1) is divided into an upper cover body and a lower cover body, the volume of the upper cover body is smaller than that of the lower cover body, and the upper cover body and the lower cover body are connected to form a step-type arrangement with a small top and a big bottom.
8. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 7, wherein: the vacuum pipe interface (19) is arranged in the superior cover body.
9. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 2, which is characterized in that: the sealing gasket (2) is an annular silica gel ring, and the sealing gasket (2) is fixedly arranged on an annular flange (4) arranged at the edge of an opening part of the cleaning cover (1) through an annular groove (3) in a clamping mode.
10. The rust removing and sewage recycling device of the ship rust removing robot as claimed in claim 5, wherein: six nozzles (11) are arranged, and the six nozzles (11) are all arranged around the six-way valve (10).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120725339.3U CN214813066U (en) | 2021-04-09 | 2021-04-09 | Rust removal and sewage recovery device of ship rust removal robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120725339.3U CN214813066U (en) | 2021-04-09 | 2021-04-09 | Rust removal and sewage recovery device of ship rust removal robot |
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| CN214813066U true CN214813066U (en) | 2021-11-23 |
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| CN202120725339.3U Active CN214813066U (en) | 2021-04-09 | 2021-04-09 | Rust removal and sewage recovery device of ship rust removal robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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- 2021-04-09 CN CN202120725339.3U patent/CN214813066U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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