WO2023137964A1 - 一种船只内舱除锈机器人控制装置 - Google Patents

一种船只内舱除锈机器人控制装置 Download PDF

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Publication number
WO2023137964A1
WO2023137964A1 PCT/CN2022/099665 CN2022099665W WO2023137964A1 WO 2023137964 A1 WO2023137964 A1 WO 2023137964A1 CN 2022099665 W CN2022099665 W CN 2022099665W WO 2023137964 A1 WO2023137964 A1 WO 2023137964A1
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Prior art keywords
rollers
recovery
rust
ship
shells
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PCT/CN2022/099665
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English (en)
French (fr)
Inventor
许华旸
孙长瑞
宋章军
刘海龙
刘彦雨
郭超琼
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北京史河科技有限公司
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Application filed by 北京史河科技有限公司 filed Critical 北京史河科技有限公司
Publication of WO2023137964A1 publication Critical patent/WO2023137964A1/zh

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    • 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
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B17/00—Methods preventing fouling
    • B08B17/02—Preventing deposition of fouling or of dust
    • B08B17/025—Prevention of fouling with liquids by means of devices for containing or collecting said liquids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the invention relates to the technical field of painting and derusting, in particular to a control device for a rust-removing robot in a ship interior cabin.
  • the Chinese invention patent with the publication number CN109436237A in the prior art discloses a derusting robot, which solves the problem of complicated and heavy structure of the current derusting equipment.
  • Both sides of the connecting frame are equipped with an adsorption moving mechanism, and the adsorption moving mechanism is connected with a power device.
  • a working head is installed on the bottom of the connecting frame.
  • the working head is equipped with a nozzle and a recovery pipe.
  • the bottom of the working head is fitted to the working surface.
  • Starting the power device can make the adsorption moving mechanism directly drive the working head to move on the surface of the hull, and the nozzle in the working head can derust the surface of the hull. Since the bottom of the working head fits the working surface, the rust paint and high-pressure water will not splash around, and directly enter the collection box through the recovery pipe.
  • the above-mentioned invention patent still has the following problems: 1. It cannot adapt to the complex shape of the inner cabin: due to the complex shape of the inner cabin of the ship, there may be obstacles. If it faces an obstacle or a corner of the inner cabin, it may be blocked by obstacles. The magnetic force on the surface may cause the cleaned iron filings to stick to the moving mechanism. It is not only difficult to remove the iron filings only by scraping the scraper, but if the adhesion between the iron filings and the moving mechanism is too strong, the moving mechanism may be stuck and the device cannot be moved.
  • the purpose of the present invention is to provide a rust removal robot for the inner cabin of a ship to solve the technical problems in the prior art that it cannot adapt to the complex shape of the inner cabin and that the moving mechanism will absorb iron filings and affect the movement of the device.
  • the invention provides a control device for a rust removal robot in the inner cabin of a ship, comprising a rust removal recovery tray (3), a frame (4), a transmission device (5), a wheel set (6), a recovery pump (1), and a high-pressure nozzle (2).
  • the frame (4) is arranged on the top of the rust removal recovery tray (3).
  • the pump (1) is coaxially arranged on the top of the derusting recovery pan (3), and the output end of the recovery pump (1) communicates with the recovery tank (31).
  • the magnetic force of the magnet makes the iron filings fall between the two rollers (63) to store the iron filings, thereby completing the collection of the iron filings.
  • the air bag (66) and the rubber sleeve (67) are expanded by the inflatable assembly (62) until the rubber sleeve (67) is stretched to the same circumference as the roller (63), reducing the magnetic force on the iron filings, thereby facilitating the cleaning of the iron filings when the roller (63) rotates.
  • the transmission device (5) and the wheel set (6) are provided with two groups, the transmission device (5) of each group is arranged on the top of the derusting recovery tray (3) and is connected with the frame (4), the wheel set (6) of each group is connected with the derusting recovery tray (3) through the transmission device (5), and each transmission device (5) includes an electric push rod ( 51 ), two connecting rods ( 52 ) and two bent rods ( 53 ).
  • one end of the two connecting rods (52) is rotatably connected with the frame (4), the other side of the two connecting rods (52) is rotatably connected with the mounting frame (61), one end of the two curved rods (53) is rotatably connected with the frame (4), the other side of the two curved rods (53) is rotatably connected with the mounting frame (61), and the output end of the electric push rod (51) is rotatably connected with the two connecting rods ( 52 ).
  • the mounting frame (61) is arranged on a transmission device (5), two spacers (68) are fixedly arranged on both sides of the mounting frame (61) respectively, four of the rollers (63) are distributed in pairs on both sides of the mounting frame (61), each roller (63) is provided with a magnet near the center of the shaft, and the two rollers (63) at one end are fixedly connected by four connecting blocks (69).
  • One end of the spacer (68) extends to between the two rollers (63).
  • the spacer (68) is rotatably connected with the rollers (63), the two airbags (66) are respectively sleeved on the two spacer frames (68), and the airbag (66) communicates with the spacer (68), the two rubber sleeves (67) are respectively set on the two airbags (66), the two motors (64) are respectively arranged on both sides of the mounting frame (61), and each motor (64) is connected with the roller (63) on the same side of the motor (64) through the steering gear (65) , the inflatable assembly (62) is arranged on the mounting frame (61), the output end of the inflatable assembly (62) communicates with the spacer (68), and the part of each spacer (68) in contact with the roller (63) is provided with a bearing (610).
  • the inflatable assembly (62) includes an air pump (621), two air pipes (622) and two air transmission shells (623), the air pump (621) is fixedly arranged on the installation frame (61), one end of the two air pipes (622) is fixedly connected to the output end of the air pump (621), the two air transmission shells (623) are respectively arranged on two partitions (68), and each gas transmission shell (623) is connected to the corresponding partition (68) are communicated, and the other ends of the two air pipes (622) are communicated with the two air delivery shells (623) respectively.
  • each of the gas transmission shells (623) is provided with a pressure relief pipe (624), the pressure relief pipe (624) communicates with the gas transmission shell (623), the pressure relief pipe (624) is provided with a pressure relief hole (627), and a piston (625) is arranged in the pressure relief pipe (624), and a reset spring (626) is provided on the side of the piston (625) away from the gas transmission shell (623), and the piston (625) passes through the reset spring (626) is connected with the pressure relief pipe (624), and the piston (625) is blocked by the elastic force of the return spring (626) to block the pressure relief hole (627).
  • the elastic force of the return spring (626) is only less than the maximum extension force of the rubber sleeve (67).
  • the return spring (626) is a rubber spring.
  • four recovery shells (7) are also arranged on the derusting recovery tray (3), and one end of the four recovery shells (7) is connected to the recovery tank (31), and the four recovery shells (7) are divided into two groups, and the other ends of the two sets of recovery shells (7) are arranged correspondingly to the rollers (63) in the two sets of wheels (6).
  • the bottom circumference of the derusting recovery tray (3) is provided with several brushes (8).
  • the beneficial effects of the present invention are:
  • magnets are arranged on the rollers in order to make the device move on the inner bulkhead, so when processing rust stains, iron filings are more likely to stick to the rollers.
  • two rollers arranged on one side, and a spacer is provided in the two rollers, so that there is a notch between the two rollers. Since the magnet is arranged near the axis of the rollers, the extrusion force and the magnetic force of the magnet when the rollers move make the iron filings fall between the two rollers and temporarily store the iron filings, so as to avoid the iron filings from affecting the normal movement of the device.
  • the inflatable component works to expand the air bag and the rubber sleeve.
  • the rubber sleeve stretches to the same extent as the circumference of the roller, it is the maximum stretching degree of the rubber sleeve.
  • the iron filings are slowly squeezed out and the airbag expands.
  • the magnetic force of the magnet on the iron filings will be gradually reduced, and then the iron filings can be scraped off by the connecting block when the roller rotates to complete the cleaning.
  • the motor independently controls the rotation of the rollers to move, and the high-pressure spray nozzle sprays liquid to remove rust. Finally, the rust-removed liquid mixed with rust is recovered by the recovery pump.
  • the transmission device works to make the two groups of wheels gather towards the center of the rust-removal recovery disc, and at the same time, the rust-removal recovery disc is lifted upwards, so that the axial distance of the two groups of wheels is reduced, which can meet the turning requirements on the narrow plane of the inner bulkhead. turn.
  • Fig. 1 is the three-dimensional structure schematic diagram of the first working state of the present invention
  • Fig. 2 is the three-dimensional structure schematic diagram of the second working state of the present invention.
  • Fig. 3 is the schematic diagram of the three-dimensional structure of the wheel set of the present invention.
  • Fig. 4 is a partial structural sectional view of the wheel set of the present invention.
  • Fig. 5 is a partial structural exploded view of the wheel set of the present invention.
  • Fig. 6 is a sectional view of the gas transmission shell of the present invention.
  • Fig. 7 is a three-dimensional structural schematic diagram of the transmission device of the present invention.
  • Fig. 8 is a schematic diagram of the three-dimensional structure of the derusting recovery tray of the present invention.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, or it may be an internal connection between two components.
  • connection should be understood in specific situations.
  • the embodiment of the present invention provides a control device for a rust removal robot in the inner cabin of a ship, including a rust removal recovery tray 3, a frame 4, a transmission device 5 and a wheel set 6, and also includes a recovery pump 1 and a high-pressure nozzle 2.
  • the top, and the output end of the recovery pump 1 communicates with the recovery tank 31.
  • the transmission device 5 and the wheel group 6 are provided with two groups.
  • the transmission device 5 of each group is arranged on the top of the derusting recovery disk 3 and is connected with the frame 4.
  • the wheel group 6 of each group is connected with the rust removal recovery disk 3 through the transmission device 5.
  • the wheel group 6 of each group includes a mounting frame 61, an inflatable assembly 62, four rollers 63, two motors 64, two steering gears 65, two air bags 66, two rubber sleeves 67 and two spacers 68.
  • the mounting frame 61 is arranged on a transmission device 5, and two spacers 68 are respectively fixedly arranged on both sides of the mounting frame 61.
  • Four of the rollers 63 are distributed in pairs on both sides of the mounting frame 61.
  • a magnet is provided on each roller 63 near the center of the axis.
  • the airbag 66 communicates with the spacer 68
  • two rubber sleeves 67 are sleeved on the two airbags 66 respectively
  • two motors 64 are respectively arranged on both sides of the mounting frame 61, and each motor 64 is connected with the roller 63 located on the same side of the motor 64 through a steering gear 65
  • the inflatable assembly 62 is arranged on the mounting frame 61, and the output end of the inflatable assembly 62 communicates with the spacer 68.
  • the motor 64 independently controls the rotation of the roller 63 to move, and the high-pressure nozzle 2 sprays liquid to remove rust. Finally, the rust-removed liquid mixed with rust is recovered by the recovery pump 1.
  • the transmission device 5 works to make the two sets of wheels 6 gather towards the center of the rust removal recovery plate 3, and at the same time lift the rust removal recovery plate 3 upwards, so that the axial distance between the two sets of wheels 6 is reduced, which can meet the turning requirements on the narrow plane of the inner bulkhead.
  • each spacer 68 in contact with the roller 63 is provided with a bearing 610 , which can avoid direct contact between the spacer 68 and the wheel 63 and increase friction when the wheel 63 rotates.
  • the inflatable assembly 62 includes an air pump 621, two air pipes 622 and two air transmission shells 623, the air pump 621 is fixedly arranged on the mounting frame 61, one end of the two air pipes 622 is fixedly connected to the output end of the air pump 621, the two air transmission shells 623 are respectively arranged on the two spacers 68, and each air transmission shell 623 is communicated with the corresponding spacer 68, and the other ends of the two air pipes 622 are respectively connected to the two air transmission shells 62 3 connected, when the air bag 66 needs to be inflated, the air pump 621 works to deliver gas to the gas delivery shell 623 through the air pipe 622, and the gas enters the air bag 66 through the gas delivery shell 623 through the separator 68 to realize the expansion of the air bag 66.
  • each of the gas transmission shells 623 is provided with a pressure relief pipe 624
  • the pressure relief pipe 624 communicates with the gas transmission shell 623
  • the pressure relief pipe 624 is provided with a pressure relief hole 627
  • the pressure relief pipe 624 is provided with a piston 625
  • the side of the piston 625 away from the gas transmission shell 623 is provided with a return spring 626
  • the piston 625 is connected to the pressure relief pipe 624 through the return spring 626
  • the piston 625 is bounced by the return spring 626
  • the pressure relief hole 627 is blocked by force, and the elastic force of the return spring 626 is only less than the maximum extension force of the rubber sleeve 67.
  • the return spring 626 is a rubber spring, which can prevent magnets from affecting the elastic force of the return spring 626 when a metal spring is used.
  • each of the transmission devices 5 includes an electric push rod 51, two connecting rods 52 and two curved rods 53, the electric push rod 51 is hinged on the top of the derusting recovery tray 3, one end of the two connecting rods 52 is rotationally connected with the frame 4, the other side of the two connecting rods 52 is rotationally connected with the mounting frame 61, one end of the two curved rods 53 is rotationally connected with the frame 4, the other side of the two curved rods 53 is rotationally connected with the mounting frame 61, and the output end of the electric push rod 51 is connected with the two connecting rods 51.
  • the rod 52 is rotatably connected, and when the device needs to turn, the electric push rod 51 works to drive the wheel set 6 to move through the connecting rod 52 and the curved rod 53 .
  • the recovery shells 7 are arranged on the derusting recovery tray 3, and one end of the four recovery shells 7 is connected to the recovery groove 31.
  • the four recovery shells 7 are divided into two groups, and the other ends of the two sets of recovery shells 7 are set corresponding to the rollers 63 in the two sets of wheels 6.
  • the transmission device 5 drives the wheels 6 to move towards the center of the rust removal recovery plate 3.
  • the rollers 63 in the two sets of wheels 6 contact the two sets of recovery shells 7, and the components are inflated at the same time 62 works to expand the air bag 66 and the rubber sleeve 67.
  • the bottom circumference of the derusting recovery tray 3 is provided with several brushes 8, and the brushes 8 can remove residual water stains on the inner bulkhead after the device derusts the inner bulkhead, so as to avoid water rust.

Abstract

本发明公开了一种船只内舱除锈机器人控制装置，属于涂装除锈技术领域，包括回收泵、高压喷头，还包括除锈回收盘、机架、传动装置和轮组。通过设置在一侧的两个滚轮，且两个滚轮中设有分隔架，使得两个滚轮之间存在槽口，由于磁铁设置在滚轮靠近轴心的地方，进而通过滚轮移动时的挤压力和磁铁的磁力使铁屑落入两个滚轮之间并对铁屑进行暂存，当需要处理两个滚轮之间的铁屑时，充气组件工作使气囊和橡胶套膨胀，当橡胶套伸展至与滚轮周长相同时为该橡胶套的最大伸展程度，将铁屑慢慢挤出且气囊膨胀时会逐渐减少磁铁对铁屑的磁力，然后滚轮自转时通过连接块便可以将铁屑刮除，完成清理。

Description

一种船只内舱除锈机器人控制装置 技术领域
本发明涉及涂装除锈技术领域，尤其是涉及一种船只内舱除锈机器人控制装置。
背景技术
由于船内舱形状复杂，普通外壁除锈机器人无法适应内壁的形状，无法进行除锈工作。平常内舱除锈工作都是由工人在高吊车上手持超高压水枪进行除锈，工人站在高处和使用高压水枪均存在风险。
现有技术中公开号为CN109436237A的中国发明专利公开了一种除锈机器人，解决目前的除锈设备结构复杂且笨重的问题。所述连接架的两侧安装有吸附移动机构，所述吸附移动机构连接有动力装置，所述连接架的底部安装有工作头，所述工作头安装有喷头以及回收管，所述工作头的底部与工作面贴合，所述工作头的底部设有凹槽，所述喷头位于凹槽内，所述回收管与凹槽连通。启动动力装置可使吸附移动机构直接带动工作头在船体的表面移动，工作头内的喷头对船体的表面除锈，由于工作头的底部与工作面贴合，锈漆以及高压水不会四处飞溅，通过回收管直接进入收集箱内，不仅工作效率提高，对环境无污染，而且结构简单，整体比较轻盈。
但是上述发明专利还存在以下问题：1、无法适应内舱的复杂形状：由于船只内舱形状复杂，还可能存在障碍物，若面对障碍物或者面对内舱的转角时，可能被障碍物阻碍，面对内舱转角进行转弯时，不仅难以实现转弯，收集部件还可能会抵触内舱壁影响转弯；2、移动机构会吸附铁屑影响装置移动：由于该装置需要在内舱壁上移动，所以在移动机构上设置磁铁使其可以沿内舱壁移动，但由于移动机构上的磁力可能会导致清理后的铁屑粘连在移动机构上，仅通过刮刀对铁屑进行处理，不仅难以将铁屑清除，若铁屑与移动机构的粘连力过强，可能导致移动机构卡死，使装置无法移动。
发明内容
本发明的目的在于提供一种船只内舱除锈机器人，以解决现有技术中无法适应内舱的复杂形状和移动机构会吸附铁屑影响装置移动的技术问题。
本发明提供一种船只内舱除锈机器人控制装置，包括除锈回收盘(3)、机架(4)、传动装置(5)和轮组(6)和回收泵(1)、高压喷头(2)，所述机架(4)设置在除锈回收盘(3)的顶部，所述除锈回收盘(3)上设有回收槽(31)，所述高压喷头(2)固定设置在回收槽(31)的周围，所述高压喷头(2)可外接高压泵，所述回收泵(1)同轴设置在除锈 回收盘(3)的顶部，且回收泵(1)的输出端与回收槽(31)连通，所述轮组(6)均包括安装架(61)、充气组件(62)、四个滚轮(63)、两个电机(64)、两个转向器(65)、两个气囊(66)、两个橡胶套(67)和两个分隔架(68)，移动时，通过滚轮(63)移动时的挤压力和磁铁的磁力使铁屑落入两个滚轮(63)之间存放铁屑，从而完成收集铁屑，当需要清理时，通过充气组件(62)使气囊(66)和橡胶套(67)膨胀，直至橡胶套(67)伸展至与滚轮(63)周长相同，减少对铁屑的磁力，从而方便滚轮(63)自转时清理铁屑。
优选的，所述传动装置(5)和轮组(6)均设有两组，每组所述传动装置(5)均设置在除锈回收盘(3)顶部且与机架(4)连接，每组所述轮组(6)通过传动装置(5)与除锈回收盘(3)传动连接，每个所述传动装置(5)均包括电推杆(51)、两个连杆(52)和两个弯杆(53)，所述电推杆(51)铰接在除锈回收盘(3)的顶部，两个所述连杆(52)的一端与机架(4)转动连接，两个连杆(52)的另一侧与安装架(61)转动连接，两个所述弯杆(53)的一端与机架(4)转动连接，两个弯杆(53)的另一侧与安装架(61)转动连接，所述电推杆(51)的输出端与两个连杆(52)转动连接。
优选的，所述安装架(61)设置在一个传动装置(5)上，两个分隔架(68)分别固定设置在安装架(61)的两侧，四个所述滚轮(63)两两分布在安装架(61)的两侧，每个滚轮(63)上靠近轴心的部分均设有磁铁，位于一端的两个滚轮(63)通过四个连接块(69)固定连接，所述分隔架(68)的一端延伸至两个滚轮(63)之间，且分隔架(68)与滚轮(63)转动连接，两个气囊(66)分别套设在两个分隔架(68)上，且气囊(66)与分隔架(68)连通，两个橡胶套(67)分别套设在两个气囊(66)上，两个电机(64)分别设置在安装架(61)的两侧，且每个电机(64)均通过转向器(65)与位于电机(64)同侧的滚轮(63)连接，所述充气组件(62)设置在安装架(61)上，所述充气组件(62)的输出端与分隔架(68)连通，每个分隔架(68)与滚轮(63)接触的部分均设有轴承(610)。
优选的，所述充气组件(62)包括气泵(621)、两个气管(622)和两个输气壳(623)，所述气泵(621)固定设置在安装架(61)上，两个所述气管(622)的一端与气泵(621)的输出端固定连接，两个输气壳(623)分别设置在两个分隔架(68)上，且每个输气壳(623)均与对应的分隔架(68)连通，两个所述气管(622)的另一端分别与两个输气壳(623)连通。
优选的，每个所述输气壳(623)上均设有泄压管(624)，所述泄压管(624)与输气壳(623)连通，所述泄压管(624)上设有泄压孔(627)，且泄压管(624)内设置有活塞(625)，所述活塞(625)远离输气壳(623)的一侧设有复位弹簧(626)，所述活塞 (625)通过复位弹簧(626)与泄压管(624)连接，且活塞(625)受复位弹簧(626)弹力堵塞泄压孔(627)，所述复位弹簧(626)的弹力仅小于橡胶套(67)的最大延伸力。
优选的，所述复位弹簧(626)为橡胶弹簧。
优选的，所述除锈回收盘(3)上还设有四个回收壳(7)，四个回收壳(7)的一端均与回收槽(31)连通，四个回收壳(7)分为两组，且两组回收壳(7)的另一端均与两组轮组(6)中的滚轮(63)对应设置。
优选的，征在于，所述除锈回收盘(3)的底部圆周设有若干毛刷(8)与现有技术相比较，本发明的有益效果在于：
(1)本发明由于为了使装置在内舱壁上移动，在滚轮上设置了磁铁，因此在处理锈渍时，铁屑更易粘连在滚轮上，对此，通过设置在一侧的两个滚轮，且两个滚轮中设有分隔架，使得两个滚轮之间存在槽口，由于磁铁设置在滚轮靠近轴心的地方，进而通过滚轮移动时的挤压力和磁铁的磁力使铁屑落入两个滚轮之间并对铁屑进行暂存，避免铁屑影响装置的正常移动，当需要处理两个滚轮之间的铁屑时，充气组件工作使气囊和橡胶套膨胀，当橡胶套伸展至与滚轮周长相同时为该橡胶套的最大伸展程度，将铁屑慢慢挤出且气囊膨胀时会逐渐减少磁铁对铁屑的磁力，然后滚轮自转时通过连接块便可以将铁屑刮除，完成清理。
(2)本发明工作时，通过电机独立控制滚轮转动实现移动，高压喷头喷液进行除锈，最后除锈后的液体混合铁锈通过回收泵对其进行回收，当装置遭遇内舱转角时，传动装置工作使两组轮组朝向除锈回收盘中心聚拢，同时使得除锈回收盘向上抬起，使两组轮组的轴间距减小，可以适应内舱壁狭窄平面上的转弯需求，同时抬高的除锈回收盘可以留出一部分避让空间，防止除锈回收盘影响装置转弯。
(3)本发明中当气囊膨胀使橡胶套伸展至其最大伸展程度后，气泵继续充气，此时会推动活塞移动并使复位弹簧收缩，活塞移动到一定距离时，将泄压孔暴露，多余的气体可以通过泄压孔排出，避免气泵始终工作对橡胶套造成不可逆损坏，也避免了橡胶套过度膨胀影响滚轮自转。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明第一工作状态的立体结构示意图；
图2为本发明第二工作状态的立体结构示意图；
图3为本发明轮组的立体结构示意图；
图4为本发明轮组的部分结构剖视图；
图5为本发明轮组的部分结构爆炸图；
图6为本发明输气壳的剖视图；
图7为本发明的传动装置的立体结构示意图；
图8为本发明除锈回收盘的立体结构示意图。
附图标记：
1、回收泵；2、高压喷头；3、除锈回收盘；31、回收槽；4、机架；5、传动装置；51、电推杆；52、连杆；53、弯杆；6、轮组；61、安装架；62、充气组件；621、气泵；622、气管；623、输气壳；624、泄压管；625、活塞；626、复位弹簧；627、泄压孔；63、滚轮；64、电机；65、转向器；66、气囊；67、橡胶套；68、分隔架；69、连接块；610、轴承；7、回收壳；8、毛刷。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。
通常在此处附图中描述和显示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。
基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语 在本发明中的具体含义。
下面结合图1至图8所示，本发明实施例提供了一种船只内舱除锈机器人控制装置，包括除锈回收盘3、机架4、传动装置5和轮组6，还包括回收泵1、高压喷头2，所述机架4设置在除锈回收盘3的顶部，所述除锈回收盘3上设有回收槽31，所述高压喷头2固定设置在回收槽31的周围，所述高压喷头2可外接高压泵，所述回收泵1同轴设置在除锈回收盘3的顶部，且回收泵1的输出端与回收槽31连通，所述传动装置5和轮组6均设有两组，每组所述传动装置5均设置在除锈回收盘3顶部且与机架4连接，每组所述轮组6通过传动装置5与除锈回收盘3传动连接，每组所述轮组6均包括安装架61、充气组件62、四个滚轮63、两个电机64、两个转向器65、两个气囊66、两个橡胶套67和两个分隔架68，所述安装架61设置在一个传动装置5上，两个分隔架68分别固定设置在安装架61的两侧，四个所述滚轮63两两分布在安装架61的两侧，每个滚轮63上靠近轴心的部分均设有磁铁，位于一端的两个滚轮63通过四个连接块69固定连接，所述分隔架68的一端延伸至两个滚轮63之间，且分隔架68与滚轮63转动连接，两个气囊66分别套设在两个分隔架68上，且气囊66与分隔架68连通，两个橡胶套67分别套设在两个气囊66上，两个电机64分别设置在安装架61的两侧，且每个电机64均通过转向器65与位于电机64同侧的滚轮63连接，所述充气组件62设置在安装架61上，所述充气组件62的输出端与分隔架68连通。
工作时，通过电机64独立控制滚轮63转动实现移动，高压喷头2喷液进行除锈，最后除锈后的液体混合铁锈通过回收泵1对其进行回收，当装置遭遇内舱转角时，传动装置5工作使两组轮组6朝向除锈回收盘3中心聚拢，同时使得除锈回收盘3向上抬起，使两组轮组6的轴间距减小，可以适应内舱壁狭窄平面上的转弯需求，同时抬高的除锈回收盘3可以留出一部分避让空间，防止除锈回收盘3影响装置转弯，并且由于为了使装置在内舱壁上移动，在滚轮63上设置了磁铁，因此在处理锈渍时，铁屑更易粘连在滚轮63上，对此，通过设置在一侧的两个滚轮63，且两个滚轮63中设有分隔架68，使得两个滚轮63之间存在槽口，由于磁铁设置在滚轮63靠近轴心的地方，进而通过滚轮63移动时的挤压力和磁铁的磁力使铁屑落入两个滚轮63之间并对铁屑进行暂存，避免铁屑影响装置的正常移动，当需要处理两个滚轮63之间的铁屑时，充气组件62工作使气囊66和橡胶套67膨胀，当橡胶套67伸展至与滚轮63周长相同时为该橡胶套67的最大伸展程度，将铁屑慢慢挤出且气囊66膨胀时会逐渐减少磁铁对铁屑的磁力，然后滚轮63自转时通过连接块69便可以将铁屑刮除，完成清理。
优选的，每个分隔架68与滚轮63接触的部分均设有轴承610，可以避免分隔架68 与滚轮63直接接触增加滚轮63旋转时的摩擦力。
优选的，所述充气组件62包括气泵621、两个气管622和两个输气壳623，所述气泵621固定设置在安装架61上，两个所述气管622的一端与气泵621的输出端固定连接，两个输气壳623分别设置在两个分隔架68上，且每个输气壳623均与对应的分隔架68连通，两个所述气管622的另一端分别与两个输气壳623连通，当需要对气囊66充气时，气泵621工作通过气管622朝输气壳623输气，气体在通过输气壳623进过分隔架68进入气囊66，实现气囊66膨胀。
优选的，每个所述输气壳623上均设有泄压管624，所述泄压管624与输气壳623连通，所述泄压管624上设有泄压孔627，且泄压管624内设置有活塞625，所述活塞625远离输气壳623的一侧设有复位弹簧626，所述活塞625通过复位弹簧626与泄压管624连接，且活塞625受复位弹簧626弹力堵塞泄压孔627，所述复位弹簧626的弹力仅小于橡胶套67的最大延伸力，当气囊66膨胀使橡胶套67伸展至其最大伸展程度后，此时气泵621继续充气，此时会推动活塞625移动并使复位弹簧626收缩，活塞625移动到一定距离时，将泄压孔627暴露，多余的气体可以通过泄压孔627排出，避免气泵621始终工作对橡胶套67不可逆损坏，也避免了橡胶套67过度膨胀影响滚轮63自转。
优选的，所述复位弹簧626为橡胶弹簧，可以避免使用金属弹簧的情况下磁铁影响复位弹簧626弹力。
优选的，每个所述传动装置5均包括电推杆51、两个连杆52和两个弯杆53，所述电推杆51铰接在除锈回收盘3的顶部，两个所述连杆52的一端与机架4转动连接，两个连杆52的另一侧与安装架61转动连接，两个所述弯杆53的一端与机架4转动连接，两个弯杆53的另一侧与安装架61转动连接，所述电推杆51的输出端与两个连杆52转动连接，当装置需要转弯时，电推杆51工作通过连杆52和弯杆53带动轮组6进行移动。
优选的，所述除锈回收盘3上还设有四个回收壳7，四个回收壳7的一端均与回收槽31连通，四个回收壳7分为两组，且两组回收壳7的另一端均与两组轮组6中的滚轮63对应设置，当装置转弯时，通过传动装置5带动轮组6朝向除锈回收盘3圆心处移动，当电推杆51收缩为最紧状态时，两组轮组6中的滚轮63与两组回收壳7接触，同时充气组件62工作使气囊66和橡胶套67膨胀，滚轮63移动时通过连接块69将橡胶套67膨胀时挤出的铁屑扫进回收壳7内，最终铁屑通过回收壳7进入回收槽31被回收泵1回收。
优选的，所述除锈回收盘3的底部圆周设有若干毛刷8，毛刷8可以在装置对内舱壁进行除锈后，去除内舱壁上残留的水渍，避免产生水锈。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (8)

  1. 一种船只内舱除锈机器人控制装置，包括除锈回收盘(3)、机架(4)、传动装置(5)和轮组(6)和回收泵(1)、高压喷头(2)，所述机架(4)设置在除锈回收盘(3)的顶部，所述除锈回收盘(3)上设有回收槽(31)，所述高压喷头(2)固定设置在回收槽(31)的周围，所述高压喷头(2)可外接高压泵，所述回收泵(1)同轴设置在除锈回收盘(3)的顶部，且回收泵(1)的输出端与回收槽(31)连通，所述轮组(6)均包括安装架(61)、充气组件(62)、四个滚轮(63)、两个电机(64)、两个转向器(65)、两个气囊(66)、两个橡胶套(67)和两个分隔架(68)，特征在于，移动时，通过滚轮(63)移动时的挤压力和磁铁的磁力使铁屑落入两个滚轮(63)之间存放铁屑，从而完成收集铁屑，当需要清理时，通过充气组件(62)使气囊(66)和橡胶套(67)膨胀，直至橡胶套(67)伸展至与滚轮(63)周长相同，减少对铁屑的磁力，从而方便滚轮(63)自转时清理铁屑。
  2. 根据权利要求1所述的一种船只内舱除锈机器人控制装置，其特征在于，所述传动装置(5)和轮组(6)均设有两组，每组所述传动装置(5)均设置在除锈回收盘(3)顶部且与机架(4)连接，每组所述轮组(6)通过传动装置(5)与除锈回收盘(3)传动连接，每个所述传动装置(5)均包括电推杆(51)、两个连杆(52)和两个弯杆(53)，所述电推杆(51)铰接在除锈回收盘(3)的顶部，两个所述连杆(52)的一端与机架(4)转动连接，两个连杆(52)的另一侧与安装架(61)转动连接，两个所述弯杆(53)的一端与机架(4)转动连接，两个弯杆(53)的另一侧与安装架(61)转动连接，所述电推杆(51)的输出端与两个连杆(52)转动连接。
  3. 根据权利要求2所述的一种船只内舱除锈机器人控制装置，其特征在于，所述安装架(61)设置在一个传动装置(5)上，两个分隔架(68)分别固定设置在安装架(61)的两侧，四个所述滚轮(63)两两分布在安装架(61)的两侧，每个滚轮(63)上靠近轴心的部分均设有磁铁，位于一端的两个滚轮(63)通过四个连接块(69)固定连接，所述分隔架(68)的一端延伸至两个滚轮(63)之间，且分隔架(68)与滚轮(63)转动连接，两个气囊(66)分别套设在两个分隔架(68)上，且气囊(66)与分隔架(68)连通，两个橡胶套(67)分别套设在两个气囊(66)上，两个电机(64)分别设置在安装架(61)的两侧，且每个电机(64)均通过转向器(65)与位于电机(64)同侧的滚轮(63)连接，所述充气组件(62)设置在安装架(61)上，所述充气组件(62)的输出端与分隔架(68)连通，每个分隔架(68)与滚轮(63)接触的部分均设有轴承(610)。
  4. 根据权利要求3所述的一种船只内舱除锈机器人控制装置，其特征在于，所述充气组件(62)包括气泵(621)、两个气管(622)和两个输气壳(623)，所述气泵(621)固定设置 在安装架(61)上，两个所述气管(622)的一端与气泵(621)的输出端固定连接，两个输气壳(623)分别设置在两个分隔架(68)上，且每个输气壳(623)均与对应的分隔架(68)连通，两个所述气管(622)的另一端分别与两个输气壳(623)连通。
  5. 根据权利要求4所述的一种船只内舱除锈机器人控制装置，其特征在于，每个所述输气壳(623)上均设有泄压管(624)，所述泄压管(624)与输气壳(623)连通，所述泄压管(624)上设有泄压孔(627)，且泄压管(624)内设置有活塞(625)，所述活塞(625)远离输气壳(623)的一侧设有复位弹簧(626)，所述活塞(625)通过复位弹簧(626)与泄压管(624)连接，且活塞(625)受复位弹簧(626)弹力堵塞泄压孔(627)，所述复位弹簧(626)的弹力仅小于橡胶套(67)的最大延伸力。
  6. 根据权利要求5所述的一种船只内舱除锈机器人控制装置，其特征在于，所述复位弹簧(626)为橡胶弹簧。
  7. 根据权利要求1所述的一种船只内舱除锈机器人控制装置，其特征在于，所述除锈回收盘(3)上还设有四个回收壳(7)，四个回收壳(7)的一端均与回收槽(31)连通，四个回收壳(7)分为两组，且两组回收壳(7)的另一端均与两组轮组(6)中的滚轮(63)对应设置。
  8. 根据权利要求1所述的一种船只内舱除锈机器人控制装置，其特征在于，所述除锈回收盘(3)的底部圆周设有若干毛刷(8)。
PCT/CN2022/099665 2022-01-20 2022-06-20 一种船只内舱除锈机器人控制装置 WO2023137964A1 (zh)

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