SA520420093B1 - إنسان آلي بعجلات مغناطيسية لتنظيف بدن السفن - Google Patents
إنسان آلي بعجلات مغناطيسية لتنظيف بدن السفنInfo
- Publication number
- SA520420093B1 SA520420093B1 SA520420093A SA520420093A SA520420093B1 SA 520420093 B1 SA520420093 B1 SA 520420093B1 SA 520420093 A SA520420093 A SA 520420093A SA 520420093 A SA520420093 A SA 520420093A SA 520420093 B1 SA520420093 B1 SA 520420093B1
- Authority
- SA
- Saudi Arabia
- Prior art keywords
- wheels
- robot
- pair
- allowing
- pivot mechanism
- Prior art date
Links
- 238000004140 cleaning Methods 0.000 title 1
- 239000000725 suspension Substances 0.000 abstract 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 abstract 1
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 surface
-
- 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)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Cleaning In General (AREA)
Abstract
يصف الطلب الحالي جهازًا في شكل إنسان آلي robot (1) لإجراء عمليات على بدن السفينة (25). ويشتمل الإنسان الآلي (1) على عجلات مغناطيسية magnetic wheels (4) تسمح بالتصاق الإنسان الآلي (1) بالأبدان الحديدية ferrous hulls (25) من خلال القوى المغناطيسية وتجهيزة تعليق (5، 10، 11، 12، 24) لدعم العجلات (4) على جسم (2، 3) الإنسان الآلي (1) وللسماح للإنسان الآلي (1) بالحركة على الأسطح غير المستوية. تتضمن العجلات (4) زوج أول من العجلات وزوج ثانٍ من العجلات، مع تباعد زوجي العجلات عن بعضهما البعض بامتداد طول الإنسان الآلي (1). تشتمل تجهيزة التعليق على آلية محور ارتكاز تعليق (5، 24) تسمح بدوران خط يمتد بين مراكز الزوج الأول من العجلات بالنسبة لخط يمتد بين مراكز الزوج الثاني من العجلات، بامتداد آلية محور ارتكاز تحدب (10، 11، 12) لكل عجلة (4)، وتسمح آلية محور ارتكاز التحدب camber pivot mechanism (10، 11، 12) بدوران محور دوران العجلة 4 بالنسبة لمحاور دوران العجلات الأخرى (4) بحيث يمكن أن تحاذي العجلة (4) محور دورانها مع سطح البدن (25). تعمل القوى المغناطيسية لربط العجلة (4) ببدن السفينة (25) على تدوير آ
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 |
---|---|
SA520420093B1 true SA520420093B1 (ar) | 2023-07-06 |
Family
ID=61972736
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SA520420093A SA520420093B1 (ar) | 2018-03-08 | 2020-09-06 | إنسان آلي بعجلات مغناطيسية لتنظيف بدن السفن |
Country Status (12)
Country | Link |
---|---|
US (1) | US20210047016A1 (ar) |
EP (1) | EP3762158B1 (ar) |
JP (1) | JP7410041B2 (ar) |
KR (1) | KR20200130298A (ar) |
CN (1) | CN111867742A (ar) |
AU (1) | AU2019229666A1 (ar) |
GB (1) | GB201803700D0 (ar) |
MX (1) | MX2020009212A (ar) |
SA (1) | SA520420093B1 (ar) |
SG (1) | SG11202008057TA (ar) |
WO (1) | WO2019170888A1 (ar) |
ZA (1) | ZA202005152B (ar) |
Families Citing this family (17)
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 |
CA3203865A1 (en) * | 2020-12-30 | 2022-07-07 | Marcelo Luiz LIGEIRO BARBOSA | 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 |
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 |
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 |
Family Cites Families (21)
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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 |
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 |
JPS62152983A (ja) * | 1985-12-26 | 1987-07-07 | Ishikawajima Kensa Keisoku Kk | 自走台車 |
US6000484A (en) * | 1996-09-25 | 1999-12-14 | Aqua Dynamics, Inc. | Articulating wheeled permanent magnet chassis with high pressure sprayer |
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US6971471B2 (en) * | 2001-12-07 | 2005-12-06 | General Motors Corporation | Multi-directional drive |
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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 |
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 |
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 |
CN204488915U (zh) * | 2015-01-30 | 2015-07-22 | 哈尔滨工程大学 | 机器人四轮转向机构 |
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 |
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 |
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 |
-
2018
- 2018-03-08 GB GBGB1803700.2A patent/GB201803700D0/en not_active Ceased
-
2019
- 2019-03-08 JP JP2020546917A patent/JP7410041B2/ja active Active
- 2019-03-08 EP EP19711047.1A patent/EP3762158B1/en active Active
- 2019-03-08 US US16/978,930 patent/US20210047016A1/en active Pending
- 2019-03-08 WO PCT/EP2019/055909 patent/WO2019170888A1/en active Application Filing
- 2019-03-08 AU AU2019229666A patent/AU2019229666A1/en active Pending
- 2019-03-08 SG SG11202008057TA patent/SG11202008057TA/en unknown
- 2019-03-08 CN CN201980017074.7A patent/CN111867742A/zh active Pending
- 2019-03-08 KR KR1020207026231A patent/KR20200130298A/ko not_active Application Discontinuation
- 2019-03-08 MX MX2020009212A patent/MX2020009212A/es unknown
-
2020
- 2020-08-19 ZA ZA2020/05152A patent/ZA202005152B/en unknown
- 2020-09-06 SA SA520420093A patent/SA520420093B1/ar unknown
Also Published As
Publication number | Publication date |
---|---|
EP3762158B1 (en) | 2023-06-21 |
WO2019170888A1 (en) | 2019-09-12 |
EP3762158A1 (en) | 2021-01-13 |
US20210047016A1 (en) | 2021-02-18 |
CN111867742A (zh) | 2020-10-30 |
ZA202005152B (en) | 2022-01-26 |
BR112020018086A2 (pt) | 2020-12-22 |
AU2019229666A1 (en) | 2020-09-24 |
EP3762158C0 (en) | 2023-06-21 |
SG11202008057TA (en) | 2020-09-29 |
KR20200130298A (ko) | 2020-11-18 |
GB201803700D0 (en) | 2018-04-25 |
JP2021515695A (ja) | 2021-06-24 |
MX2020009212A (es) | 2021-01-08 |
JP7410041B2 (ja) | 2024-01-09 |
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