KR102779528B1 - 자기 차륜을 구비한 선박 선체 세척용 로봇 - Google Patents

자기 차륜을 구비한 선박 선체 세척용 로봇 Download PDF

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Publication number
KR102779528B1
KR102779528B1 KR1020207026231A KR20207026231A KR102779528B1 KR 102779528 B1 KR102779528 B1 KR 102779528B1 KR 1020207026231 A KR1020207026231 A KR 1020207026231A KR 20207026231 A KR20207026231 A KR 20207026231A KR 102779528 B1 KR102779528 B1 KR 102779528B1
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KR
South Korea
Prior art keywords
robot
wheel
magnetized
wheels
hull
Prior art date
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Active
Application number
KR1020207026231A
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English (en)
Korean (ko)
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KR20200130298A (ko
Inventor
토릴 펠다스 리그
로알트 페더슨
Original Assignee
요툰 에이/에스
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Publication of KR20200130298A publication Critical patent/KR20200130298A/ko
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Publication of KR102779528B1 publication Critical patent/KR102779528B1/ko
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/023—Cleaning the external surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Robotics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
KR1020207026231A 2018-03-08 2019-03-08 자기 차륜을 구비한 선박 선체 세척용 로봇 Active KR102779528B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1803700.2 2018-03-08
GBGB1803700.2A GB201803700D0 (en) 2018-03-08 2018-03-08 Device
PCT/EP2019/055909 WO2019170888A1 (en) 2018-03-08 2019-03-08 Robot with magnetic wheels for cleaning ship hulls

Publications (2)

Publication Number Publication Date
KR20200130298A KR20200130298A (ko) 2020-11-18
KR102779528B1 true KR102779528B1 (ko) 2025-03-10

Family

ID=61972736

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020207026231A Active KR102779528B1 (ko) 2018-03-08 2019-03-08 자기 차륜을 구비한 선박 선체 세척용 로봇

Country Status (13)

Country Link
US (1) US12054229B2 (https=)
EP (1) EP3762158B1 (https=)
JP (1) JP7410041B2 (https=)
KR (1) KR102779528B1 (https=)
CN (1) CN111867742A (https=)
AU (1) AU2019229666B2 (https=)
GB (1) GB201803700D0 (https=)
MX (1) MX2020009212A (https=)
MY (1) MY208285A (https=)
SA (1) SA520420093B1 (https=)
SG (1) SG11202008057TA (https=)
WO (1) WO2019170888A1 (https=)
ZA (1) ZA202005152B (https=)

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CN112918630B (zh) * 2021-01-22 2022-09-02 江苏丰源船舶工程有限公司 一种弹性缓冲式船舶清洁用表面刮除机构
CN113110531B (zh) * 2021-04-19 2021-11-12 飞马滨(青岛)智能科技有限公司 一种水下机器人与待洗船只的自动贴壁方法
CN113477592A (zh) * 2021-07-13 2021-10-08 苏州热工研究院有限公司 一种蒸汽发生器二次侧硬质泥渣清洗装置及方法
CN114101162B (zh) * 2021-10-08 2022-11-01 河北工业大学 一种海洋平台导管架清洗爬壁机器人
KR102637653B1 (ko) * 2021-12-17 2024-02-19 엘앤에스(주) 독립 구동 휠을 갖는 다축자율주행플랫폼
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CN116174422B (zh) * 2023-04-23 2023-07-25 中粮工科迎春智能装备(湖南)有限公司 一种磁驱蠕动式多方向清理机器人
WO2025003472A1 (en) 2023-06-30 2025-01-02 Jotun A/S Antifouling Composition
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CN118144949B (zh) * 2024-03-12 2024-08-16 长江南京航道工程局 一种船舶维护用表面附着物清理装置
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Also Published As

Publication number Publication date
EP3762158A1 (en) 2021-01-13
JP7410041B2 (ja) 2024-01-09
MX2020009212A (es) 2021-01-08
AU2019229666B2 (en) 2024-09-26
JP2021515695A (ja) 2021-06-24
WO2019170888A1 (en) 2019-09-12
CN111867742A (zh) 2020-10-30
US20210047016A1 (en) 2021-02-18
ZA202005152B (en) 2022-01-26
EP3762158B1 (en) 2023-06-21
MY208285A (en) 2025-04-29
AU2019229666A1 (en) 2020-09-24
SG11202008057TA (en) 2020-09-29
EP3762158C0 (en) 2023-06-21
KR20200130298A (ko) 2020-11-18
US12054229B2 (en) 2024-08-06
SA520420093B1 (ar) 2023-07-06
BR112020018086A2 (pt) 2020-12-22
GB201803700D0 (en) 2018-04-25

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