CN110182332A - Combined-type climbs wall type ship Intelligent Laser rust removalling equipment - Google Patents
Combined-type climbs wall type ship Intelligent Laser rust removalling equipment Download PDFInfo
- Publication number
- CN110182332A CN110182332A CN201910412633.6A CN201910412633A CN110182332A CN 110182332 A CN110182332 A CN 110182332A CN 201910412633 A CN201910412633 A CN 201910412633A CN 110182332 A CN110182332 A CN 110182332A
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- China
- Prior art keywords
- laser
- rust
- control system
- combined
- climbing robot
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
-
- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Combined-types to climb wall type ship Intelligent Laser rust removalling equipment, including moving device, laser rust-removing device, adsorbent equipment, NI Vision Builder for Automated Inspection and control system, adsorbent equipment and laser rust-removing device are each provided on moving device, and NI Vision Builder for Automated Inspection is located on climbing robot.This is climbed wall rust removalling equipment and is made of multiple small-sized wall-climbing rust removalling equipments, can array traveling or individually traveling.All wall rust removalling equipments of climbing are controlled using remote control mode, all controls can carry out in display setting terminal.The present invention solves the problems, such as to derust operation use at present manually and needs to build more auxiliary equipment, and environmental pollution is reduced by the way of away rust by laser.Array system can carry out large area derusting without high power laser, reduce its job costs, improve its working efficiency.Meanwhile detachable system makes it that can all carry out derusting work to region of different sizes, has specific aim, the derusting being likely to occur is avoided to be not thorough situation.
Description
Technical field
The present invention relates to derusting cleaning fields, more particularly, to used in the metals wall surface washing and cleaning operation such as ship, storage tank
Combined-type climbs wall type ship Intelligent Laser rust removalling equipment.
Background technique
Ship plank is band large-scale metal wall surface, after long-term exposing to the weather, saline and alkaline erosion, dust stick, metallic walls
Phenomena such as face will appear dirt, corrode and fade, derusted to ship plank, paint removal etc. be shiprepair steps necessary.Ship
Oceangoing ship outer plate surfaces product is relatively large, and usual way is manually to build scaffold, and corresponding operating is carried out on scaffold, is not only consumed
Take plenty of time and manpower, there are also security risks.Intelligent derusting device existing at present generallys use high pressure water, open sandblasting
Or the method for shot-peening, waste water resource, while will cause the pollutants such as fugitive dust, it is serious to pollute air and surrounding body.
Application No. is CN201720777054, the applying date is related to one kind for the Chinese patent of 2017.06.29 and climbs wall type ship
Outside plate Intelligent Laser rust removalling equipment is connected by mobile platform, lifting device with job platform with climbing robot, using certainly
The method of operation of dynamicization formula can derust, paint removal, can also be with lacquer painting plucking operation, a duty multipotency.It uses away rust by laser to fill
It sets, environmental protection is laborsaving.But defect is, climbing robot needs to manipulate using lifting platform, and figure heaviness is inconvenient, and laser
The derusting area of derusting device in the same time is too small, can take considerable time to the derusting of large ship outside plate.It therefore, is ship plank
It is a urgent problem to be solved that equal large-area metals siding, which finds time saving and energy saving, the environmental-friendly derusting method of one kind,.
Summary of the invention
Wall type propagation Intelligent Laser derusting is climbed in view of the deficiencies of the prior art, the present invention proposes a kind of Combined-type to set
It is standby, using Remote Control Automatic networked control systems, control more convenient operation；Combined-disconnected, it is same using multiple small-sized wall-climbing robots
When work, reduce the power requirement to single derusting laser, reduce the weight of single climbing robot, improve work
Efficiency；No pollution to the environment, it is time saving and energy saving.
To achieve the goals above, present invention employs following technical solutions:
Combined-type climbs wall type ship Intelligent Laser rust removalling equipment, including remote control operating system, multiple small-sized wall-climbing machines
People, laser rust-removing device, NI Vision Builder for Automated Inspection and control system.Laser rust-removing device and its emitting head are mounted on climbing robot
In, it is electrically connected to the control system；NI Vision Builder for Automated Inspection is mounted in climbing robot, is electrically connected to the control system；Control system
It is mounted in climbing robot, is controlled by remote control operating system.In operation process, NI Vision Builder for Automated Inspection automatic identification
Plan that advance route, working condition pass through remote operating system Real-time Feedback；Climbing robot can be used for monomer or combination operation,
Antenna array control is carried out by remote operating system.
Preferably, the remote control operating system has status display and parameter setting function, for wall-climbing device
People's working condition carries out remote supervisory and control.
Preferably, the climbing robot can work independently, and array work can also be combined into multiple robots.
Preferably, the wall-climbing device human agent is made of rust removalling equipment main body, crawler belt, electromagnet.
Preferably, the bottom of the climbing robot is equipped with crawler belt, is inlaid with permanent magnet on crawler belt, passes through permanent magnetic suck
Mode ship plank move；The bottom of the climbing robot is also equipped with assisted sucking disc.
Preferably, the climbing robot side studs with electromagnet, for mutually adsorbing when the work of its array.
Preferably, the rust removalling equipment main body is made of laser rust-removing device, NI Vision Builder for Automated Inspection, control system.
Preferably, the NI Vision Builder for Automated Inspection includes light source and video camera, and light source and video camera are and the control system
Electrical connection.
Preferably, the laser rust-removing device includes scanning galvanometer, laser host and temperature control system.
Preferably, the control system includes reception of wireless signals and transmitting unit, drive motor units and laser control
Unit processed.
Preferably, the power module is battery, while giving laser rust-removing device, NI Vision Builder for Automated Inspection, control system
Power supply.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention selects laser rust-removing device not generate machinery compared with the manual polishing method of mechanical derusting
Damage；Compared with derusting by sandblasting, peripheral devices will not be damaged；Compared with chemical derusting, will not damage base material will not band
Carry out secondary pollution.
2. the present invention is operated using remote control, there is intelligent derusting route identifying system, without carrying out extra auxiliary
Device is built, and the use of manpower and material resources is effectively reduced, convenient laborsaving.Meanwhile remote control operation can be according to different rusty stain situations to sharp
Light rust removalling equipment is configured, and the use demand under different condition can be met.
3. the present invention takes array method, so that rust removing robot is capable of forming array while advancing, can also be split as
Independent part uses.In the case where derusting to large area ship plank, array derusting can effectively reduce the derusting time；?
It in the case where to the derusting of small area specific position, is split as independent part and derusts, the deep enough demand position of energy avoids derusting
The generation of incomplete phenomenon.
4. the present invention using can array operation away rust by laser equipment, choose miniature laser rust removalling equipment carry out derusting behaviour
Make, makes up its deficiency on derusting area using array format, be not required to that large area can be carried out using powerful laser
Derusting work, can be effectively reduced processing cost.
Detailed description of the invention
Fig. 1 is one embodiment of the invention method of operation schematic diagram；
Fig. 2 is climbing robot structural schematic diagram of the present invention；
Fig. 3 is intelligent rust removalling equipment system of subject composition figure of the present invention.
In attached drawing, the component names that each label represents are as follows: 1, hull, 2, climbing robot, 3, remote control operation system
System, 4, intelligent rust removalling equipment main body, 5, crawler belt, 6, electromagnet, 7, laser rust-removing device, 8, NI Vision Builder for Automated Inspection, 9, control system
System, 10, reception of wireless signals and transmitting unit, 11, drive motor units, 12, laser control unit, 13, power module.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Fig. 1 to Fig. 3 is a kind of embodiment of the invention, as shown, a kind of Combined-type climbs wall type ship Intelligent Laser
Rust removalling equipment, including remote control operating system 3, climbing robot 2, laser rust-removing device 7, NI Vision Builder for Automated Inspection 8 and control
System 9.The laser beam emitting head of laser rust-removing device 7 is mounted in climbing robot 2, is electrically connected with control system 9；Machine vision
System 8 is mounted in climbing robot 2, is electrically connected with control system 9；Control system 9 is mounted in climbing robot 2, is passed through
Remote control operating system 3 controls, and remote control is convenient, is not necessarily to extra auxiliary tool, uses manpower and material resources sparingly.Climbing robot 2 can be single
Solely work, is also combined into array common operational, can meet the derusting requirement different to large and small area, rust cleaning efficiency simultaneously
It is high.Laser rust-removing device 7 uses optical fiber laser, and optical mirror slip is not present in resonant cavity, and stability is high.Optical fiber output swashs simultaneously
Electrical distance is remote, and derusting operation can be carried out by being not required to contact, does not generate damage to object.And away rust by laser no material consumption no waste mine, section
About resource protects environment.
The remote control operating system 3 has status display and parameter setting function, as the manipulation source of whole system,
For carrying out remote supervisory and control to 2 working condition of climbing robot.Control inside the operating system and climbing robot 2
System connects in real time, by wireless signal remote control, can show 2 current working status of climbing robot, works climbing robot 2
Parameter is configured, and emergency stop option is had, to guarantee safety.Also, there are many windows, each window is corresponding in operating system
A climbing robot 2 is supervised, all climbing robots 2 can be supervised simultaneously, to realize to each wall-climbing device
The grasp of 2 working condition of people, convenient for each climbing robot 2 separately or in combination.
The climbing robot 2 can work independently, and array work can also be combined into multiple robots.Each climb wall
Robot has specific number, can be configured to its working condition by remote control operating system 3.Specific volume can be chosen
Number climbing robot 2, make its separate operaton；The wall-climbing device that needs can also be chosen to combine by remote control operating system
The number of people 2, the climbing robot 2 that setting combination array most left (or most right) is held, remaining selected robot will be by respective
NI Vision Builder for Automated Inspection selection suitable path go to and arranged, so that it is combined operation.
2 main body of climbing robot forms 6 by intelligent rust removalling equipment main body 4, crawler belt 5, electromagnet.
The bottom of the climbing robot 2 is equipped with crawler belt 5, is inlaid with permanent magnet on crawler belt 5, passes through the side of permanent magnetic suck
Formula is moved in ship plank, and caterpillar belt structure can provide the magnet structure of maximum area；Also pacify the bottom of the climbing robot 2
Equipped with assisted sucking disc, sucker lifts when work, with normal movement operation；After work, sucker puts down and is adsorbed on outside ship
Plate surface.
2 side of climbing robot studs with electromagnet 6, for mutually adsorbing when the work of its array.By long-range distant
Control operating system 3 can control electromagnet 6.When it works independently, electromagnet 6 is set as off-state, to guarantee it
It is not influenced by remaining climbing robot 2；When a combination thereof work, the setting of electromagnet 6 is in an open state, and guarantees robot queue
Between be not in gap, be able to maintain queue shape advance.Also, climbing robot 2 uses non-metal shell, independent to guarantee
The climbing robot 2 of work is not by electromagnet effects.
The intelligence rust removalling equipment main body 4 is by laser rust-removing device 7, NI Vision Builder for Automated Inspection 8, control system 9 and power supply mould
Block 13 forms.
The laser rust-removing device 7 includes scanning galvanometer, laser host and temperature control system.Wherein, laser master
Machine is a near-infrared pulse optical fiber, and peak power is multikilowatt, is exported as the optical fiber with alignment function.Laser pulse
It after collimation output in optical fiber, is scanned galvanometer and is irradiated to the surface for needing to derust, surface is carried out by the scanning of galvanometer
Gradually derust.
The NI Vision Builder for Automated Inspection 8 includes light source and video camera, and light source and video camera are electrically connected with the control system.
In away rust by laser operation, NI Vision Builder for Automated Inspection issues illumination light by light source, carries out figure to illuminable area by video camera
As capturing.Image procossing will be captured to be output to remote control operating system 3 by wireless signal emission system after digital signal
In, for the grasp to currently processed areas case.Meanwhile NI Vision Builder for Automated Inspection 8 can assist climbing robot 2 to carry out working as proparea
Domain identification, facilitate it to plan path automatically, can automatically advance, and it is automatic when needing group to be combined into array before
Toward specific position.
The control system 9 includes reception of wireless signals and transmitting unit, drive motor units and laser control unit.
Reception of wireless signals and transmitting unit with remote control operating system 3 for being got in touch with, processing signal supply remote control behaviour
Make system 3, generates signal control drive motor units and laser control unit；Drive motor units are for controlling wall-climbing device
The traveling of people 2, stopping, the lifting of assisted sucking disc and the opening and closing of electromagnet；Laser control unit is for controlling away rust by laser dress
Set 7 open and close, the parameters such as temperature, and control energy of lasers, pulse recurrence frequency, scanning speed.
The power module 13 is battery, while to laser rust-removing device 7, NI Vision Builder for Automated Inspection 8, control system power supply
9.The charge condition real time reaction of power module 13 in remote control operating system 3 in the corresponding window of each climbing robot 2,
When not enough power supply will automatic alarm, while climbing robot 2 automatically returns to starting point.After climbing robot 2 stops working,
It can charge to battery.Power available line is directly connected to climbing robot and charges, battery can also be taken out into
Row charging.
The course of work of this system: all climbing robots 2 well and are connect with the configuration of remote control operating system 3, this
Step is hereafter disposable step works after configuring well for the first time and is just not required to configure again；By climbing robot 2 it is charged after
It is placed on the surface for needing to derust；Open climbing robot 2, setting derusting parameter；Start climbing robot 2, packs up automatically
Sucker opens laser rust-removing device 7 and derusts, can independently be arranged work independently or work in combination in the process, remote-controlled electromagnetism
Iron is cut-off, and can grasp in real time the surface condition that need to derust by monitoring；It, can be with by by derusting surface condition in descaling process
Shi Genggai derusting parameter, needs first close laser rust-removing device 7, opens it again after change and continue to remove when changing derusting parameter
Rust；After derusting, laser rust-removing device 7 is closed, is withdrawn by remote control operating system 3, is automatically returned to and set out
Point, and sucker suction is put down automatically on surface.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to invention, not to the scope of the present invention
Limitation, based on the technical solutions of the present invention, those skilled in the art do not need to make the creative labor and can make
Various modifications or changes still within protection scope of the present invention.
Claims (10)
1. Combined-type climbs wall type ship Intelligent Laser rust removalling equipment, including remote control operating system (3), climbing robot
(2), laser rust-removing device (7), NI Vision Builder for Automated Inspection (8) and control system (9)；The laser beam emitting head of laser rust-removing device (7)
It is mounted in climbing robot (2), is electrically connected with control system (9)；NI Vision Builder for Automated Inspection (8) is mounted on climbing robot (2)
In, it is electrically connected with control system (9)；Control system (9) is mounted in climbing robot (2), passes through remote control operating system
(3) it controls.
2. Combined-type described in accordance with the claim 1 climbs wall type ship Intelligent Laser rust removalling equipment, which is characterized in that described remote
Journey remote handling system (3) has status display and parameter setting function, long-range for carrying out to climbing robot working condition
Supervision and control.
3. Combined-type described in accordance with the claim 1 climbs wall type ship Intelligent Laser rust removalling equipment, which is characterized in that described to climb
Wall robot (2) can work independently, and array work can also be combined into multiple robots.
4. Combined-type described in accordance with the claim 1 climbs wall type ship Intelligent Laser rust removalling equipment, which is characterized in that described to climb
Wall robot (2) main body is made of intelligent rust removalling equipment main body (4), crawler belt (5), electromagnet (6).
5. Combined-type described in accordance with the claim 1 climbs wall type ship Intelligent Laser rust removalling equipment, which is characterized in that described to climb
The bottom of wall robot (2) is equipped with crawler belt (5), is inlaid with permanent magnet on crawler belt, by way of permanent magnetic suck in ship or
The movement of petrochemical industry storage tank outer surface；The bottom of the climbing robot (2) is also equipped with assisted sucking disc.
6. Combined-type described in accordance with the claim 1 climbs wall type ship Intelligent Laser rust removalling equipment, which is characterized in that described to climb
Wall robot (2) side studs with electromagnet (6), for mutually adsorbing when the work of its array.
7. intelligent rust removalling equipment main body according to claim 4, which is characterized in that the equipment body is filled by away rust by laser
Set (7), NI Vision Builder for Automated Inspection (8), control system (9) and power module (13) composition.
8. intelligent rust removalling equipment main body according to claim 4, which is characterized in that the NI Vision Builder for Automated Inspection includes light source
And video camera, light source and video camera are electrically connected with the control system (8).
9. laser rust-removing device according to claim 7, which is characterized in that the laser rust-removing device includes scanning vibration
Mirror, laser host and temperature control system.
10. control system according to claim 7, which is characterized in that the control system include reception of wireless signals and
Transmitting unit (10), drive motor units (11) and laser control unit (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412633.6A CN110182332A (en) | 2019-05-17 | 2019-05-17 | Combined-type climbs wall type ship Intelligent Laser rust removalling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910412633.6A CN110182332A (en) | 2019-05-17 | 2019-05-17 | Combined-type climbs wall type ship Intelligent Laser rust removalling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110182332A true CN110182332A (en) | 2019-08-30 |
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ID=67716743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910412633.6A Pending CN110182332A (en) | 2019-05-17 | 2019-05-17 | Combined-type climbs wall type ship Intelligent Laser rust removalling equipment |
Country Status (1)
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|---|---|
| CN (1) | CN110182332A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113122838A (en) * | 2019-12-31 | 2021-07-16 | 大族激光科技产业集团股份有限公司 | Cladding cleaning device and cladding cleaning method |
| CN114162279A (en) * | 2021-10-28 | 2022-03-11 | 福建省微柏工业机器人有限公司 | Ship cleaning method and device based on machine vision |
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| CN103934574A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Novel laser rust removing device |
| CN106741271A (en) * | 2016-12-26 | 2017-05-31 | 同方威视技术股份有限公司 | Climbing robot |
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
| CN206939014U (en) * | 2017-06-29 | 2018-01-30 | 深圳市招科华域科技有限公司 | One kind climbs wall type ship plank Intelligent Laser rust removalling equipment |
| CN109514439A (en) * | 2019-01-03 | 2019-03-26 | 中国石油大学(华东) | A kind of control system for climbing wall type ship derusting by sandblasting equipment |
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2019
- 2019-05-17 CN CN201910412633.6A patent/CN110182332A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934574A (en) * | 2014-02-28 | 2014-07-23 | 浙江海洋学院 | Novel laser rust removing device |
| CN106741271A (en) * | 2016-12-26 | 2017-05-31 | 同方威视技术股份有限公司 | Climbing robot |
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
| CN206939014U (en) * | 2017-06-29 | 2018-01-30 | 深圳市招科华域科技有限公司 | One kind climbs wall type ship plank Intelligent Laser rust removalling equipment |
| CN109514439A (en) * | 2019-01-03 | 2019-03-26 | 中国石油大学(华东) | A kind of control system for climbing wall type ship derusting by sandblasting equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113122838A (en) * | 2019-12-31 | 2021-07-16 | 大族激光科技产业集团股份有限公司 | Cladding cleaning device and cladding cleaning method |
| CN114162279A (en) * | 2021-10-28 | 2022-03-11 | 福建省微柏工业机器人有限公司 | Ship cleaning method and device based on machine vision |
| CN114162279B (en) * | 2021-10-28 | 2023-12-19 | 福建省微柏工业机器人有限公司 | Ship cleaning method and device based on machine vision |
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Application publication date: 20190830 |