CN104859742A - Novel flaw-detection wall-climbing machine for ship - Google Patents
Novel flaw-detection wall-climbing machine for ship Download PDFInfo
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- CN104859742A CN104859742A CN201510234565.0A CN201510234565A CN104859742A CN 104859742 A CN104859742 A CN 104859742A CN 201510234565 A CN201510234565 A CN 201510234565A CN 104859742 A CN104859742 A CN 104859742A
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- permanent magnet
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- connecting rod
- driving wheel
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The invention pertains to the field of robots, in particular to a novel flaw-detection wall-climbing machine for a ship.The novel flaw-detection wall-climbing machine comprises a driving module, a magnetic, vibration-damping and pulling module and a carrying platform. The driving module is connected with the carrying platform by means of the magnetic, vibration-damping and pulling module. The magnetic, vibration-damping and pulling module is disposed between the driving module and the carrying platform. The driving module comprises a gear crawler belt, toothed moving wheels, a central carframe and motors. The carrying platform comprises a carrying pallet, a permanent magnet bin and a guide wheel mechanism. The magnetic, vibration-damping and pulling module comprises magnetic fixed-connecting mechanisms symmetrically fixed at two ends of a central connecting rod. The magnetic fixed-connecting mechanisms are fixedly connected with one end of the central carframe and one end of the carrying pallet.The novel flaw-detection wall-climbing machine for the ship has a relatively-simple structure and is used easily and conveniently and is easily prompted for a ship-building enterprise so that a broad commercial prospect is obtained.
Description
Technical field
The invention belongs to ship's machinery people field, more particularly, relate to New Marine flaw detection and climb wall machine.
Background technology
In recent years, robot was widely used and developed in every field.Wherein, climbing robot is the robot that can carry out operation on steep slope, usually can use climbing robot when the hull of ship building industry processes operation instantly.
The hull of current appearance climbs wall device, the design of usual employing carrying equipment and permanent magnet caterpillar drive one, but produce certain vibration due to during permanent magnet crawler haulage, such device generally can only be used for detection after lift-launch additional equipment, can not be used for processing operation; And because its all-in-one-piece structure is comparatively integrated, cause device from great, adsorption affinity weakens, the Integral design of rigidity, by during curved surface because area of contact minimizing can add the risk fallen; The integrated morphology of carrying equipment and driving arrangement integral type, is easily polluted by harsh environment in operation in addition, and dismounting is complicated, and maintainability is poor.
Summary of the invention
The object of this invention is to provide New Marine flaw detection and climb wall machine, it carries out the processing operations such as pulsation-free sprays paint, welding after being beneficial to and carrying additional equipment, and strong at the adsorption affinity of marine surface, this apparatus structure is simple, easy to use, is easy to shipbuilding business enterprise expand.
The technical solution adopted in the present invention is:
Wall machine is climbed in New Marine flaw detection, comprise argosy surface absorption type operation platform and failure detector, described argosy surface absorption type operation platform comprises driver module, magnetic vibration damping traction module and carrying platform, described driver module is connected with carrying platform by magnetic vibration damping traction module, described magnetic vibration damping traction module is between driver module and carrying platform, described driver module comprises gear crawler belt, tooth driving wheel, center frame and motor, described gear crawler belt is coated on tooth driving wheel outer rim, described tooth driving wheel comprises nipper driving wheel and rear tooth driving wheel, described nipper driving wheel and rear tooth driving wheel carry out driven gear caterpillar drive by rotating, be connected by longitudinal carrier between described nipper driving wheel with rear tooth driving wheel, described center frame is provided with motor, described motor is connected with the tooth driving wheel being positioned at center frame both sides by drive bearing, described carrying platform comprises lift-launch saddle, permanent magnet storehouse and guide wheel mechanism, described guide wheel mechanism is fixed on the lower surface in permanent magnet storehouse, described lift-launch saddle is arranged on the upper surface in permanent magnet storehouse, the inside in described permanent magnet storehouse is also provided with built-in permanent magnet, described magnetic vibration damping traction module comprises the magnetic being fixed on center linkage two ends symmetry and is fixedly connected with mechanism, described magnetic is fixedly connected with mechanism and is fixedly connected with one end of described lift-launch saddle with one end of described center frame respectively.
Preferably, described magnetic is fixedly connected with mechanism and comprises hinge, U-shaped connecting rod, inside connecting rod magnet ring, outside connecting rod magnet ring and the coated cylinder of permanent magnetism, the U-shaped connecting rod of described a pair of being symmetric centered by center linkage is connected with the center frame of driver module and the lift-launch saddle of carrying platform respectively by hinge, described U-shaped connecting rod is through the coated cylinder of permanent magnetism be connected with center linkage, and by the coated part of the coated cylinder of permanent magnetism, be provided with a circle inside connecting rod magnet ring, on the face that inside connecting rod magnet ring is relative with the coated cylinder of permanent magnetism, magnetic pole is contrary, described outside connecting rod magnet ring is arranged on the port of the coated cylinder both sides of permanent magnetism, described outside connecting rod magnet ring is contrary with the port surface magnetic pole of permanent magnetism coated cylinder both sides.
Preferably, described driver module also comprises the outer field absorption permanent magnet being arranged on gear crawler belt, and described absorption permanent magnet skin is provided with rubber protecting jacket, and described absorption permanent magnet and rubber protecting jacket are fixed on gear crawler belt by crawler belt snap close.
Preferably, lift-launch saddle on described carrying platform also has six fixing threaded holes, bolt of rear end plate is equiped with respectively in described fixing threaded hole, described lift-launch saddle is connected with permanent magnet storehouse by bolt of rear end plate, built-in permanent magnet is laid in described permanent magnet storehouse, described guide wheel mechanism comprises soft rubber guide wheel and wheel frame, and described wheel frame is fixed on permanent magnet storehouse, and described soft rubber guide wheel is fixedly connected on wheel frame.
Preferably, described center frame is provided with four motors, comprises motor I, motor II, motor III and motor IV, described motor I and motor III are positioned at center frame, and described motor II and motor IV are positioned at the another side of center frame, and are symmetrically distributed.
The present invention compared with prior art tool has the following advantages and good effect:
The vibration that the present invention utilizes magnetic vibration damping traction module filtration drive module to produce, is coordinated by rubber guide wheel and makes device keep the relatively steady of carrying platform when advancing, carry out the processing operations such as pulsation-free sprays paint, welding after being beneficial to carry additional equipment; Built-in permanent magnet in carrying platform of the present invention, for himself providing the adsorption affinity at marine surface; Driver module of the present invention, the magnetic vibration damping traction module longitudinal flexible three-in-one with carrying platform is connected design, not only easy to maintenance, and certain curved surface carrying capacity that made it also possess, add the operation range of use of device at marine surface; Structure of the present invention is relatively simple, easy to use, is easy to, to shipbuilding business enterprise expand, to have very high commercial promise.
Accompanying drawing explanation
Fig. 1 is the structural representation that wall machine is climbed in New Marine of the present invention flaw detection;
Fig. 2 is the birds-eye view that wall machine is climbed in New Marine of the present invention flaw detection;
Fig. 3 is the structural representation of magnetic vibration damping traction module of the present invention.
Wherein, 1 is driver module, 2 is magnetic vibration damping traction module, 3 is carrying platform, 4 is rubber protecting jacket, 5 is absorption permanent magnet, 6 is gear crawler belt, 7 is nipper driving wheel, 8 is rear tooth driving wheel, 9 is longitudinal carrier, 10 is crawler belt snap close, 11 is center frame, 12 is motor I, 13 is motor II, 14 is motor III, 15 is motor IV, 16 is drive bearing, 17 for carrying saddle, 18 is fixing threaded hole, 19 is permanent magnet storehouse, 20 is built-in permanent magnet, 21 is soft rubber guide wheel, 22 is wheel frame, 23 is hinge, 24 is U-shaped connecting rod, 25 is inside connecting rod magnet ring, 26 is outside connecting rod magnet ring, 27 is the coated cylinder of permanent magnetism, 28 is center linkage, 29 is equipment jacket, 30 is fault finder.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail:
As illustrated in fig. 1 and 2, New Marine flaw detection is climbed wall machine and is comprised argosy surface absorption type operation platform and failure detector, wherein argosy surface absorption type operation platform comprises driver module 1, magnetic vibration damping traction module 2 and carrying platform 3, described driver module 1 is connected with carrying platform 3 by magnetic vibration damping traction module 2, described magnetic vibration damping traction module 2 is between driver module 1 and carrying platform 3, described driver module 1 comprises gear crawler belt 6, tooth driving wheel, center frame 11 and motor, described gear crawler belt 6 is coated on tooth driving wheel outer rim, described tooth driving wheel comprises nipper driving wheel 7 and rear tooth driving wheel 8, described nipper driving wheel 7 and rear tooth driving wheel 8 carry out driven gear crawler belt 6 move by rotating, be connected by longitudinal carrier 9 between described nipper driving wheel 7 with rear tooth driving wheel 8, described center frame 11 is provided with motor, described motor is connected with the tooth driving wheel being positioned at center frame 11 both sides by drive bearing 16, described carrying platform 3 comprises lift-launch saddle 17, permanent magnet storehouse 19 and guide wheel mechanism, described guide wheel mechanism is fixed on the lower surface in permanent magnet storehouse 19, described lift-launch saddle 17 is arranged on the upper surface in permanent magnet storehouse 19, the inside in described permanent magnet storehouse 19 is also provided with built-in permanent magnet 20, , when this device is advanced on wall surfaces of ships, built-in permanent magnet 20 in permanent magnet storehouse 19 can separately for carrying platform 3 provides magnetic adsorptive power, described magnetic vibration damping traction module 2 comprises the magnetic being fixed on center linkage 28 two ends symmetry and is fixedly connected with mechanism, described magnetic is fixedly connected with mechanism and is fixedly connected with one end of described lift-launch saddle 17 with one end of described center frame 11 respectively, failure detector comprises equipment jacket 29 and fault finder 30, is located on the absorption type operation platform of argosy surface.
Center frame 11 is provided with four motors, comprise motor I 12, motor II 13, motor III 14 and motor IV 15, described motor I 12 and motor III 14 are positioned at center frame 11 on one side, and described motor II 13 and motor IV 15 are positioned at the another side of center frame 11, and are symmetrically distributed;
Driver module 1 also comprises the outer field absorption permanent magnet 5 being arranged on gear crawler belt 6, described absorption permanent magnet 5 skin is provided with rubber protecting jacket 4, be increased in friction force when wall surfaces of ships is advanced, and the corrosion-resisting function served under the operating environment of high salinity high humidity absorption permanent magnet 5, described absorption permanent magnet 5 and rubber protecting jacket 4 are fixed on gear crawler belt 6 by crawler belt snap close 10;
Lift-launch saddle 17 on carrying platform also has six fixing threaded holes 18, the installation of the Appendage Task equipment carried to facilitate this device, bolt of rear end plate is equiped with respectively in described fixing threaded hole 18, described lift-launch saddle 17 is connected with permanent magnet storehouse 19 by bolt of rear end plate, built-in permanent magnet 20 is laid in described permanent magnet storehouse 19, described guide wheel mechanism comprises soft rubber guide wheel 21 and wheel frame 22, described wheel frame 22 is fixed on permanent magnet storehouse 19, described soft rubber guide wheel 21 is fixedly connected on wheel frame 22, when device is advanced, soft rubber guide wheel 21 can play and weaken running vibrations,
As shown in Figure 3, magnetic is fixedly connected with mechanism and comprises hinge 23, U-shaped connecting rod 24, inside connecting rod magnet ring 25, outside connecting rod magnet ring 26 and the coated cylinder 27 of permanent magnetism, the U-shaped connecting rod 24 of described a pair of being symmetric centered by center linkage 28 is connected with the center frame 11 of driver module and the lift-launch saddle 17 of carrying platform respectively by hinge 23, described U-shaped connecting rod 24 is through the coated cylinder 27 of permanent magnetism be connected with center linkage 28, and by the coated part of the coated cylinder of permanent magnetism 27, be provided with a circle inside connecting rod magnet ring 25, on the face that inside connecting rod magnet ring 25 is relative with the coated cylinder of permanent magnetism 27, magnetic pole is contrary, described outside connecting rod magnet ring 26 is arranged on the port of permanent magnetism coated cylinder 27 both sides, described outside connecting rod magnet ring 26 is contrary with the port surface magnetic pole of permanent magnetism coated cylinder 27 both sides, the longitudinal direction that can be as shown in Figure 3 provides stressed buffering and constraint, inside connecting rod magnet ring 25 is arranged with the reflexive magnetic pole of permanent magnetism coated cylinder 27 opposite face, the magnetic force provided can reduce lateral stressed vibration as shown in Figure 3, distinctive magnetic vibration damping traction module 2, the vibration that can produce when effectively filtration drive module 1 works, when device is advanced on curved surface, also can effectively by the transmission of power of driver module 1 to carrying platform 3,
As shown in Figure 2, centered by center frame 11, parts in driver module 1 are symmetric, nipper driving wheel 7 and rear tooth driving wheel 8 have a pair respectively, and be connected by four drive bearings 16 with the motor I 12 be placed in center frame 11, motor II 13, motor III 14 and motor IV 15 respectively, thus obtain power input, device advance needs turn time, control motor I 12, motor II 13 and motor III 14, motor IV 15 direction of rotation, very convenient.
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here cannot give exhaustive to all embodiments.Every belong to technical scheme of the present invention the apparent change of extending out or variation be still in the row of protection scope of the present invention.
Claims (5)
1. wall machine is climbed in a New Marine flaw detection, comprise argosy surface absorption type operation platform and failure detector, described argosy surface absorption type operation platform comprises driver module, magnetic vibration damping traction module and carrying platform, it is characterized in that: described driver module is connected with carrying platform by magnetic vibration damping traction module, described magnetic vibration damping traction module is between driver module and carrying platform, described driver module comprises gear crawler belt, tooth driving wheel, center frame and motor, described gear crawler belt is coated on tooth driving wheel outer rim, described tooth driving wheel comprises nipper driving wheel and rear tooth driving wheel, described nipper driving wheel and rear tooth driving wheel carry out driven gear caterpillar drive by rotating, be connected by longitudinal carrier between described nipper driving wheel with rear tooth driving wheel, described center frame is provided with motor, described motor is connected with the tooth driving wheel being positioned at center frame both sides by drive bearing, described carrying platform comprises lift-launch saddle, permanent magnet storehouse and guide wheel mechanism, described guide wheel mechanism is fixed on the lower surface in permanent magnet storehouse, described lift-launch saddle is arranged on the upper surface in permanent magnet storehouse, the inside in described permanent magnet storehouse is also provided with built-in permanent magnet, described magnetic vibration damping traction module comprises the magnetic being fixed on center linkage two ends symmetry and is fixedly connected with mechanism, described magnetic is fixedly connected with mechanism and is fixedly connected with one end of described lift-launch saddle with one end of described center frame respectively.
2. wall machine is climbed in New Marine flaw detection according to claim 1, it is characterized in that: described magnetic is fixedly connected with mechanism and comprises hinge, U-shaped connecting rod, inside connecting rod magnet ring, outside connecting rod magnet ring and the coated cylinder of permanent magnetism, the U-shaped connecting rod of described a pair of being symmetric centered by center linkage is connected with the center frame of driver module and the lift-launch saddle of carrying platform respectively by hinge, described U-shaped connecting rod is through the coated cylinder of permanent magnetism be connected with center linkage, and by the coated part of the coated cylinder of permanent magnetism, be provided with a circle inside connecting rod magnet ring, on the face that inside connecting rod magnet ring is relative with the coated cylinder of permanent magnetism, magnetic pole is contrary, described outside connecting rod magnet ring is arranged on the port of the coated cylinder both sides of permanent magnetism, described outside connecting rod magnet ring is contrary with the port surface magnetic pole of permanent magnetism coated cylinder both sides.
3. wall machine is climbed in New Marine flaw detection according to claim 1; it is characterized in that: described driver module also comprises the outer field absorption permanent magnet being arranged on gear crawler belt; described absorption permanent magnet skin is provided with rubber protecting jacket, and described absorption permanent magnet and rubber protecting jacket are fixed on gear crawler belt by crawler belt snap close.
4. wall machine is climbed in New Marine flaw detection according to claim 1, it is characterized in that: the lift-launch saddle on described carrying platform also has six fixing threaded holes, bolt of rear end plate is equiped with respectively in described fixing threaded hole, described lift-launch saddle is connected with permanent magnet storehouse by bolt of rear end plate, built-in permanent magnet is laid in described permanent magnet storehouse, described guide wheel mechanism comprises soft rubber guide wheel and wheel frame, and described wheel frame is fixed on permanent magnet storehouse, and described soft rubber guide wheel is fixedly connected on wheel frame.
5. wall machine is climbed in the New Marine flaw detection according to claim 1 or 3, it is characterized in that: described center frame is provided with four motors, comprise motor I, motor II, motor III and motor IV, described motor I and motor III are positioned at center frame on one side, described motor II and motor IV are positioned at the another side of center frame, and are symmetrically distributed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510234565.0A CN104859742A (en) | 2015-05-08 | 2015-05-08 | Novel flaw-detection wall-climbing machine for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510234565.0A CN104859742A (en) | 2015-05-08 | 2015-05-08 | Novel flaw-detection wall-climbing machine for ship |
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| CN104859742A true CN104859742A (en) | 2015-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510234565.0A Pending CN104859742A (en) | 2015-05-08 | 2015-05-08 | Novel flaw-detection wall-climbing machine for ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184613A (en) * | 2016-10-09 | 2016-12-07 | 吕忠华 | A kind of naval vessels housing carrying out flaw detection system |
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| US20120116583A1 (en) * | 2010-11-08 | 2012-05-10 | James Beard | Mobile, climbing endless track robotic system to perform remote inspections on structures |
| CN203241385U (en) * | 2013-04-01 | 2013-10-16 | 浙江海洋学院 | Ship hull surface structure weld joint inspection device |
| CN203362934U (en) * | 2013-07-23 | 2013-12-25 | 山东科技大学 | Active control electromagnetic damper for rotor vibration |
| CN103935416A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Welding joint flaw detection device |
| CN204659856U (en) * | 2015-05-08 | 2015-09-23 | 浙江海洋学院 | A kind of Novel flaw detection loading device |
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2015
- 2015-05-08 CN CN201510234565.0A patent/CN104859742A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101020189B1 (en) * | 2008-09-25 | 2011-03-09 | 대지종건(주) | Magnetic moving machine for surpace treatment |
| US20120116583A1 (en) * | 2010-11-08 | 2012-05-10 | James Beard | Mobile, climbing endless track robotic system to perform remote inspections on structures |
| CN203241385U (en) * | 2013-04-01 | 2013-10-16 | 浙江海洋学院 | Ship hull surface structure weld joint inspection device |
| CN203362934U (en) * | 2013-07-23 | 2013-12-25 | 山东科技大学 | Active control electromagnetic damper for rotor vibration |
| CN103935416A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Welding joint flaw detection device |
| CN204659856U (en) * | 2015-05-08 | 2015-09-23 | 浙江海洋学院 | A kind of Novel flaw detection loading device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184613A (en) * | 2016-10-09 | 2016-12-07 | 吕忠华 | A kind of naval vessels housing carrying out flaw detection system |
| CN106184613B (en) * | 2016-10-09 | 2017-12-26 | 陈安 | A kind of naval vessels housing carrying out flaw detection system |
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| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150826 |