MY208285A - Robot with magnetic wheels for cleaning ship hulls - Google Patents

Robot with magnetic wheels for cleaning ship hulls

Info

Publication number
MY208285A
MY208285A MYPI2020004588A MYPI2020004588A MY208285A MY 208285 A MY208285 A MY 208285A MY PI2020004588 A MYPI2020004588 A MY PI2020004588A MY PI2020004588 A MYPI2020004588 A MY PI2020004588A MY 208285 A MY208285 A MY 208285A
Authority
MY
Malaysia
Prior art keywords
wheels
robot
hull
wheel
pair
Prior art date
Application number
MYPI2020004588A
Other languages
English (en)
Inventor
Toril Fjeldaas Rygg
Roald Pedersen
Original Assignee
Jotun As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jotun As filed Critical Jotun As
Publication of MY208285A publication Critical patent/MY208285A/en

Links

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)
MYPI2020004588A 2018-03-08 2019-03-08 Robot with magnetic wheels for cleaning ship hulls MY208285A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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 (1)

Publication Number Publication Date
MY208285A true MY208285A (en) 2025-04-29

Family

ID=61972736

Family Applications (1)

Application Number Title Priority Date Filing Date
MYPI2020004588A MY208285A (en) 2018-03-08 2019-03-08 Robot with magnetic wheels for cleaning ship hulls

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=)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109490002B (zh) * 2018-12-20 2024-01-26 南京管科智能科技有限公司 一种管道机器人实验装置
US11124055B2 (en) * 2019-03-12 2021-09-21 Borg Warner Inc. Axle assembly for use in a vehicle
CN111267986B (zh) * 2020-02-20 2021-05-18 佛山国防科技工业技术成果产业化应用推广中心 一种曲面自适应电磁攀爬小车
GB2592921B (en) * 2020-03-09 2024-04-17 Jotun As Hull cleaning robot
CN111959722B (zh) * 2020-08-21 2022-05-17 广东海洋大学 一种基于船舶stl三维模型的rov船底自主巡检方法
CA3198744A1 (en) * 2020-11-13 2022-05-19 Dong Wook Lee Ship-cleaning robot
AU2021414770A1 (en) * 2020-12-30 2023-08-17 Petróleo Brasileiro S.A. - Petrobras Underwater robot for removing marine biofouling from hulls of floating units, with system for containing and capturing waste
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
CN114212208B (zh) * 2022-01-20 2022-11-25 北京史河科技有限公司 一种船只内舱除锈机器人控制装置
CN114604387B (zh) * 2022-03-11 2023-02-17 北京蕴超仿生智能科技发展有限公司 一种用于维持大型舰船船体外板清洁的仿生软体机器人
CN114593308B (zh) * 2022-03-15 2023-11-24 江苏大发建设工程有限公司 一种油烟管道检测用机器人底盘
CN114834606A (zh) * 2022-03-28 2022-08-02 深圳市行知行机器人技术有限公司 爬壁清洗机器人
US12583098B2 (en) 2022-04-21 2026-03-24 Nightwing Group, Llc Magnetic device emplacement tool
CN115123480A (zh) * 2022-06-27 2022-09-30 深圳纳百信息技术有限公司 一种水下清洗机器人
US20240075979A1 (en) * 2022-09-02 2024-03-07 Schaeffler Technologies AG & Co. KG Combined electric motor beam axle assembly and steering actuator
CN115675778B (zh) * 2022-11-17 2025-09-23 武汉理工大学 一种风光浪联合发电智能甲板清洁机器人
WO2024182032A1 (en) * 2023-02-28 2024-09-06 Bear Robotics, Inc. Wheel assembly
CN116494701B (zh) * 2023-03-09 2025-06-17 千巡科技(深圳)有限公司 一种带转向的机器人底盘独立悬挂装置及机器人底盘
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
EP4484504A1 (en) 2023-06-30 2025-01-01 Jotun A/S Antifouling composition
WO2025008351A1 (en) 2023-07-04 2025-01-09 Jotun A/S Antifouling paint composition
WO2025062354A1 (en) * 2023-09-22 2025-03-27 Trishula Robotic Solutions Private Limited A system for performing an underwater survey of a ship hull
US20250167534A1 (en) * 2023-11-17 2025-05-22 Honda Motor Co., Ltd. Drive assembly for overhead cable management system of a device
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
WO2025245458A1 (en) * 2024-05-24 2025-11-27 Massachusetts Institute Of Technology Magnetically attached hull cleaning robot
GB2642444A (en) * 2024-07-08 2026-01-14 Jotun As Vehicle steering angle correction
WO2026047212A1 (en) 2024-08-30 2026-03-05 Jotun A/S Antifouling composition
CN119926927B (zh) * 2025-03-24 2025-11-14 光大环保（中国）有限公司 一种方便调控的反应塔清灰机器人
CN119893464B (zh) * 2025-03-28 2025-07-11 北京世航智能科技有限公司 一种可自适应曲面的水下机器人及远程遥控干预方法

Family Cites Families (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US633910A (en) * 1898-06-20 1899-09-26 William C Doscher Machine for cleaning ships' bottoms.
US3088429A (en) * 1961-06-28 1963-05-07 Johannessen Harry De Fi Brandt Cleaning devices for removing marine growth from ships' hulls
US3638600A (en) * 1969-08-21 1972-02-01 Henry J Modrey Apparatus for treating ferrous surfaces
US3609612A (en) * 1969-10-10 1971-09-28 Asplundpatenter Ab Carriage or trolley for travel along an upright wall of magnetic material
IT957249B (it) 1972-03-08 1973-10-10 Lodi F Apparecchiatura per la pulitura di superfici sommerse da formazioni or ganiche in specie per scafi di na tanti
JPS5847224B2 (ja) * 1978-10-07 1983-10-21 三井造船株式会社 船舶および水中構築物の水中自動塗装装置
JPS6234865A (ja) * 1985-08-08 1987-02-14 Ishikawajima Harima Heavy Ind Co Ltd 磁石車輪式走行台車
JPS62139769A (ja) 1985-12-13 1987-06-23 Toshiba Corp 走行車
JPS62152983A (ja) * 1985-12-26 1987-07-07 Ishikawajima Kensa Keisoku Kk 自走台車
JPH074294U (ja) * 1993-06-14 1995-01-20 三菱重工業株式会社 車輪移動式水没外板清掃ロボット
US6000484A (en) * 1996-09-25 1999-12-14 Aqua Dynamics, Inc. Articulating wheeled permanent magnet chassis with high pressure sprayer
US5947051A (en) * 1997-06-04 1999-09-07 Geiger; Michael B. Underwater self-propelled surface adhering robotically operated vehicle
US6564815B2 (en) 2001-03-16 2003-05-20 Ultrastrip Systems, Inc. Air gap magnetic mobile robot
US6971471B2 (en) * 2001-12-07 2005-12-06 General Motors Corporation Multi-directional drive
US6712549B2 (en) 2002-07-09 2004-03-30 Blaw-Knox Construction Equipment Corporation Double-axis oscillating bogie wheels
US9033087B2 (en) * 2007-10-11 2015-05-19 Tecnomac S.R.L. Magnetic coupling mobile robot
NO328058B1 (no) 2008-03-04 2009-11-23 Happy Fish As Rengjoringsanordning for en undervannsstruktur samt fremgangsmate for bruk av denne
CN201291999Y (zh) 2008-10-24 2009-08-19 张玉莲 船体水下清洗爬行机构
US8506719B2 (en) 2009-11-23 2013-08-13 Searobotics Corporation Robotic submersible cleaning system
JP5680328B2 (ja) 2010-04-21 2015-03-04 公益財団法人鉄道総合技術研究所 コンクリート集成材及びその構築方法
US8386112B2 (en) 2010-05-17 2013-02-26 Raytheon Company Vessel hull robot navigation subsystem
CN202449187U (zh) 2011-11-22 2012-09-26 哈尔滨同元智能机电设备有限公司 一种复合吸附船体清刷机器人
KR101378931B1 (ko) 2012-09-20 2014-03-28 삼성중공업 주식회사 주행 로봇 및 선저 청소 로봇
DE102012020121A1 (de) * 2012-10-10 2014-04-10 Klaus M. Foerst Pufisch, reinigung von oberflächen unter wasser
CN203410605U (zh) 2013-07-19 2014-01-29 浙江海洋学院 一种油船的清污设备
KR101531492B1 (ko) 2013-11-08 2015-06-25 삼성중공업 주식회사 수중 청소로봇
KR101549378B1 (ko) 2013-11-08 2015-09-02 삼성중공업 주식회사 수중 청소로봇
US9193402B2 (en) 2013-11-26 2015-11-24 Elwha Llc Structural assessment, maintenance, and repair apparatuses and methods
CN203666942U (zh) 2013-11-26 2014-06-25 浙江海洋学院 一种新型船舶污底刮削器
WO2015122780A1 (en) 2014-02-14 2015-08-20 Ecosubsea As Inspection vehicle
GB2528871A (en) 2014-07-31 2016-02-10 Reece Innovation Ct Ltd Improvements in or relating to ROVs
JP6351465B2 (ja) * 2014-09-29 2018-07-04 株式会社移動ロボット研究所 壁面等の移動装置、及びその転舵方法
KR101548604B1 (ko) 2014-11-10 2015-09-01 주식회사 타스글로벌 자석휠의 하중 분산 장치
KR20160057938A (ko) 2014-11-14 2016-05-24 주식회사 아이엠알 표면 청소 로봇
KR101548609B1 (ko) 2014-12-23 2015-09-01 주식회사 타스글로벌 자석휠
CN204488915U (zh) 2015-01-30 2015-07-22 哈尔滨工程大学 机器人四轮转向机构
WO2017053136A1 (en) 2015-09-22 2017-03-30 Sanuwave, Inc. Cleaning and grooming water submerged structures using acoustic pressure shock waves
CN205574233U (zh) 2016-05-07 2016-09-14 安徽科技学院 一种用于船壳清洗的爬行机器人
CN105835976B (zh) 2016-05-13 2018-05-18 中国东方电气集团有限公司 一种轴线夹角自动调节的磁吸附驱动车轮组装置
CN106608346A (zh) 2016-07-25 2017-05-03 中科新松有限公司 一种用于爬壁机器人的船体清洗装置
CN106218836B (zh) * 2016-09-06 2018-01-30 吉林大学 一种多段履带式水下智能清理机器人
CN206202618U (zh) 2016-11-11 2017-05-31 南通市海鸥救生防护用品有限公司 船体清刷监测水下机器人
CN106697224B (zh) 2016-12-12 2018-09-04 河北工业大学 一种船舶水下空化清洗装置
US10381901B2 (en) * 2017-05-12 2019-08-13 Toyota Motor Engineering & Manufacturing North America, Inc. Wireless in-wheel electric assemblies with integrated in-wheel cooling and vehicles incorporating the same
US10343276B2 (en) * 2017-07-12 2019-07-09 Saudi Arabian Oil Company Compact magnetic crawler vehicle with anti-rocking supports

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
KR102779528B1 (ko) 2025-03-10
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

Similar Documents

Publication Publication Date Title
MY208285A (en) Robot with magnetic wheels for cleaning ship hulls
US11286012B2 (en) Tracked climbing machine with compliant suspension apparatus
EP3770049A1 (en) Spring arrangement for hinged vehicle chassis
US20130112052A1 (en) Under-floor wheelset lathe
ZA202000628B (en) Vehicle suspension
JPWO2020255577A5 (https=)
CN111890334A (zh) 单轨导向齿轮巡检系统
CN202163924U (zh) 圆形料场堆取料机走行机构
CN203918848U (zh) 石油钻井管具用复合式滚轮支架
PL240289B1 (pl) Układ jezdny robota mobilnego
CN206982446U (zh) 一种段差磨床加工辅助装夹装置
CN211438153U (zh) 一种双滚轮气动卡盘
CN216710735U (zh) 一种快速翻转机械机构
CN204430682U (zh) 三轴直纹滚花加工设备
JP2001171512A (ja) 有軌道台車システム
KR101884878B1 (ko) 족장 파이프 주행용 대차
US1862329A (en) Endless track vehicle
CN111941204A (zh) 一种可用于小五金打磨的五自由度机器人
CN204082961U (zh) 一种高速并联机器人用万向节
KR20190001987U (ko) 선박용 스위핑 장치
CN202163723U (zh) 一种可快速定位的曲轴输送装置
CN205631934U (zh) 一种差速车轮机构
CN207663409U (zh) 一种手腕托板移动式鼠标垫
CN204235375U (zh) 一种十字轴磨床的机械臂
JPS5996056A (ja) 輸送用車両および輸送装置