CN106516040A - Steering device for hull cleaning, brushing and monitoring underwater robot - Google Patents
Steering device for hull cleaning, brushing and monitoring underwater robot Download PDFInfo
- Publication number
- CN106516040A CN106516040A CN201610999285.3A CN201610999285A CN106516040A CN 106516040 A CN106516040 A CN 106516040A CN 201610999285 A CN201610999285 A CN 201610999285A CN 106516040 A CN106516040 A CN 106516040A
- Authority
- CN
- China
- Prior art keywords
- block
- steering
- mounting blocks
- steering block
- water
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a steering device for a hull cleaning, brushing and monitoring underwater robot. The steering device comprises a mounting plate, wherein the mounting plate is arranged on a chassis of the robot; a housing is arranged on the mounting plate; a coupling is arranged in the housing; one end of a shaft in the coupling is connected to a first mounting block; the first mounting block is connected to a first steering block; the first steering block is connected to a second mounting block; the second mounting block is connected to a second steering block; the second steering block is connected with a wheel; the first mounting block is fixedly connected with the first steering block; the first steering block is movably connected with the second mounting block; the second mounting block is fixedly connected with the second steering block; and the wheel is movably connected to a wheel shaft of the second steering block. The steering device disclosed by the invention has the following advantages of being flexible in steering, safe and firm and durable, and can obtain a larger moving range.
Description
Technical field
The present invention relates to a kind of hull cleans monitoring underwater robot transfer with water.
Background technology
In broad terms：Since there is ship just to have shipping cleaning, shipping cleaning is the same with other professional cleaning fields, experience
From original manual cleaning, simple and mechanical roasting shovel, sandblasting is developed into, except white, mechanical cleaning, Chemical cleaning.Clean in recent years new
Technology development is very fast, produces and repairs ship technological requirement more and more higher, and shipping cleaning technology also there occurs significant change, state's wash-in with technique
Method used by ship：The Technolgy of High Pressure Water jet Cleaning, sandblasting cleaning, neutral no-sour cleaner, gas shot-peening, PIG cleaning techniques, life
Under thing cleaning technique, artificial treatment technology, robot water, Removal Technology, ultrasonic cleaning technology have all been successfully applied to ship
Oceangoing ship cleans field.A kind of portable abrasive water of the newest technology by sharp fast security protection special technology development corporation, Ltd. development ＆ production
Jet cleaning equipment.Abrasive material is driven to realize efficient cleansing power using water under high pressure.It is the technology in portable Water Cutting equipment
On develop.The technologies such as this kind of technological synthesiss ball blast, sandblasting, high pressure water cleaning, have reached high-effect, low stain, operate
Easy the features such as.
Large ship after long-term navigation, can form thick layer thickness on the ship outer casing below its water line
Dirty layer.These dirty layers are made up of algae, shellfish attachment, tight and hard.On the other hand, ship operation for many years after, no
Can produce the situation of large area corrosion with avoiding.Therefore, when large ship carries out large repairs, typically require on hull
Coating, fouling and it is old especially and rust is removed, then repaste new paint, so just can guarantee that the normal/cruise of ship
With its service life of prolongation.At present, coating on ship outer casing, the removing of dirty layer, also having plenty of workman's handss and holding hammer scoop is carried out
Beat and shovel is scraped, because dirty layer hard and compact and area are big, keep in repair long in time limit, labor strength is big.Foreign countries were in 80 years 20th century
Start to explore paint-removing work of being cleaned to ship using high pressure water jet and eliminated rust for end, and achieve successfully, should
Maintenance of the vessel industry is widely popularized and adopts item technology abroad.In recent years, sending out with China's high pressure water jet
Exhibition, technology application of result is in shipbuilding industry.The operation principle of the technology is to utilize high-pressure hydraulic pump, by the pressure of light water
Improve to 40-250MPa, single rifle flow is about 20-39L/min, project from nozzle, form ultra-high pressure water fluid jet or abrasive water jet
Stream.Using the strong impact power of water jet, erosive force and stripping ability, rapidly coating, fouling, rust and paint can be removed
Totally.In cleaning, two ways can be cleaned using pure water jets cleaning and abrasive water-jet.When being cleaned using pure water, water-jet
The pressure of stream is very high, can adopt rotary nozzle, and cleaning speed is fast, and equipment is simple.When being cleaned using abrasive water-jet, water jet
Pressure is relatively small, and abrasive material is cheap quartz sand, and operation is existing to more complex.Ship is carried out using high pressure water jet
Cleaning is a kind of high-effect high-quality efficiently maintenance maintenance method.
Hull cleans monitoring underwater robot with water, is manipulated by the technical staff on the water surface, can be dived beneath the water, and adsorbs in hull
Upper operation, can remove 1000 to 1500 square metres of attachment per hour.In operation process, attachment can be cut by robot
Cut, crush, and after being collected, be sent to water surface dink in time, more than 30 tons per hour of attachment yield can avoid ocean
Biological cross-contamination, in order to allow underwater robot obtain bigger range of activity, it is necessary to load onto steering in housing bottom
Device.
The content of the invention
The purpose of the present invention, is to overcome above-mentioned limitation, flexible so as to provide a kind of steering, is obtained in that bigger movable model
Enclose, securely, long-lived hull cleans monitoring underwater robot transfer with water.
The purpose of the present invention is achieved through the following technical solutions：A kind of hull is cleaned monitoring underwater robot with water and turns to dress
Put, including installing plate, installing plate is arranged on robot chassis, installing plate is provided with shell, inside the shell is provided with shaft coupling, shaft coupling
One end of axle in device is connected on the first mounting blocks, and the first mounting blocks are connected on the first steering block, the connection of the first steering block
On the second mounting blocks, the second mounting blocks are connected on the second steering block, and the second steering block is connected with wheel, the first mounting blocks and the
For being fixedly connected, with the second mounting blocks for being flexibly connected, the second mounting blocks with the second steering block are the first steering block one steering block
It is fixedly connected, wheel is movably connected on the wheel shaft of the second steering block, and inside the shell is provided with motor.
Preferably, installing plate is provided with cylinder connector.
In sum, the present invention has advantages below：Turn to flexibly, be obtained in that bigger range of activity, securely, Jing
It is durable long.
Description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the upward view of the present invention；
Label in figure：1- installing plates, 2- shells, 3- shaft couplings, 4- axles, the first mounting blocks of 5-, the first steering blocks of 6-, 7- second pacify
Dress block, the second steering blocks of 8-, 9- wheels, 10- cylinder connectors.
Specific embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment and accompanying drawing, the invention will be further described, should
Embodiment is only used for the explanation present invention, does not constitute limiting the scope of the present invention.
The invention provides a kind of hull cleans monitoring underwater robot transfer with water, including installing plate 1, installing plate 1
It is arranged on robot chassis, installing plate 1 is provided with shell 2, is provided with shaft coupling 3, one end of the axle 4 in shaft coupling 3 in shell 2
It is connected on the first mounting blocks 5, the first mounting blocks 5 are connected on the first steering block 6, the first steering block 6 is connected to the second installation
On block 7, the second mounting blocks 7 are connected on the second steering block 8, and the second steering block 89 is connected with wheel, the first mounting blocks 5 and first turn
To block 6 for being fixedly connected, with the second mounting blocks 7 for being flexibly connected, the second mounting blocks 7 with the second steering block 8 are the first steering block 6
It is fixedly connected, wheel 9 is movably connected on the wheel shaft of the second steering block 8, and installing plate 1 is provided with cylinder connector 10.
This device when in use, by the control of oil cylinder or motor or hydraulic oil, the transverse shifting in the shell 2 of axle 4,
As axle 4 is fixedly connected with the first mounting blocks 5, the first mounting blocks 5 promote first to turn to the first steering block 6 for being fixedly connected
Block 6 to a side shifting, due to the first steering block 6 with the second mounting blocks 7 for being flexibly connected, the second mounting blocks 7 and the second steering block 8
For being fixedly connected, the second steering block 8 can driven wheel 9 to side rotate so that robot completes turning action.
Claims (2)
1. a kind of hull cleans monitoring underwater robot transfer with water, it is characterised in that：Including installing plate（1）, the installation
Plate（1）It is arranged on robot chassis, the installing plate（1）It is provided with shell（2）, the shell（2）Shaft coupling is provided with inside
（3）, the shaft coupling（3）Interior axle（4）One end be connected to the first mounting blocks（5）On, first mounting blocks（5）It is connected to
First steering block（6）On, first steering block（6）It is connected to the second mounting blocks（7）On, second mounting blocks（7）Connection
In the second steering block（8）On, second steering block（8）With wheel（9）Connection, first mounting blocks（5）With the first steering block
（6）For being fixedly connected, the first steering block（6）With the second mounting blocks（7）For being flexibly connected, the second mounting blocks（7）Turn to second
Block（8）For being fixedly connected, wheel（9）It is movably connected in the second steering block（8）Wheel shaft on, shell（2）Motor is provided with inside.
2. hull according to claim 1 cleans monitoring underwater robot transfer with water, it is characterised in that：The installation
Plate（1）It is provided with cylinder connector（10）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610999285.3A CN106516040A (en) | 2016-11-14 | 2016-11-14 | Steering device for hull cleaning, brushing and monitoring underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610999285.3A CN106516040A (en) | 2016-11-14 | 2016-11-14 | Steering device for hull cleaning, brushing and monitoring underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106516040A true CN106516040A (en) | 2017-03-22 |
Family
ID=58351953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610999285.3A Pending CN106516040A (en) | 2016-11-14 | 2016-11-14 | Steering device for hull cleaning, brushing and monitoring underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106516040A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3906572A (en) * | 1965-03-04 | 1975-09-23 | Exxon Research Engineering Co | Apparatus for maneuvering on a submerged surface |
| CN1820993A (en) * | 2005-02-15 | 2006-08-23 | 日产自动车株式会社 | Steering control apparatus |
| CN1880143A (en) * | 2005-06-07 | 2006-12-20 | 日产自动车株式会社 | Steering apparatus for a vehicle |
| CN1974295A (en) * | 2005-11-29 | 2007-06-06 | 日产自动车株式会社 | Vehicle steering control device and method |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN102470887A (en) * | 2009-12-01 | 2012-05-23 | 丰田自动车株式会社 | Steering device |
| CN202574584U (en) * | 2012-03-12 | 2012-12-05 | 南通市海鸥救生防护用品有限公司 | Drive device of robot for removing underwater ship body attachments |
| CN205574233U (en) * | 2016-05-07 | 2016-09-14 | 安徽科技学院 | Be used for abluent robot of crawling of hull |
| CN206202629U (en) * | 2016-11-14 | 2017-05-31 | 南通市海鸥救生防护用品有限公司 | Hull cleans monitoring underwater robot transfer with water |
-
2016
- 2016-11-14 CN CN201610999285.3A patent/CN106516040A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3906572A (en) * | 1965-03-04 | 1975-09-23 | Exxon Research Engineering Co | Apparatus for maneuvering on a submerged surface |
| CN1820993A (en) * | 2005-02-15 | 2006-08-23 | 日产自动车株式会社 | Steering control apparatus |
| CN1880143A (en) * | 2005-06-07 | 2006-12-20 | 日产自动车株式会社 | Steering apparatus for a vehicle |
| CN1974295A (en) * | 2005-11-29 | 2007-06-06 | 日产自动车株式会社 | Vehicle steering control device and method |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN102470887A (en) * | 2009-12-01 | 2012-05-23 | 丰田自动车株式会社 | Steering device |
| CN202574584U (en) * | 2012-03-12 | 2012-12-05 | 南通市海鸥救生防护用品有限公司 | Drive device of robot for removing underwater ship body attachments |
| CN205574233U (en) * | 2016-05-07 | 2016-09-14 | 安徽科技学院 | Be used for abluent robot of crawling of hull |
| CN206202629U (en) * | 2016-11-14 | 2017-05-31 | 南通市海鸥救生防护用品有限公司 | Hull cleans monitoring underwater robot transfer with water |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170322 |