CN114954717A - Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot - Google Patents
Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot Download PDFInfo
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- CN114954717A CN114954717A CN202210394799.1A CN202210394799A CN114954717A CN 114954717 A CN114954717 A CN 114954717A CN 202210394799 A CN202210394799 A CN 202210394799A CN 114954717 A CN114954717 A CN 114954717A
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- pressure water
- robot
- ultrahigh
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- wheel type
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- 238000004140 cleaning Methods 0.000 title claims abstract description 58
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 38
- 238000001179 sorption measurement Methods 0.000 claims abstract description 40
- 230000009194 climbing Effects 0.000 claims abstract description 15
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 7
- 238000011084 recovery Methods 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 abstract description 12
- 239000002893 slag Substances 0.000 abstract description 2
- 239000002351 wastewater Substances 0.000 abstract description 2
- 238000004458 analytical method Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Substances [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012933 kinetic analysis Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
-
- 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
-
- 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
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- 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 marine ultrahigh-pressure water cleaning wheel type wall climbing robot which comprises a frame, wherein four walking devices are arranged at the front end and the rear end of the frame, two adsorption devices are arranged at the bottoms of the front end and the rear end, and a cleaning device is arranged in the center; each walking device comprises a wheel, a driving motor and a speed reducer, and the driving motor is movably connected with the wheel through a connecting shaft with a ball head. The adsorption device adopts the permanent magnetic adsorption unit with the Halbach array magnetic circuit tile-shaped structure, so that the magnetic mass ratio is increased, and the occupied space is reduced; the traveling device is movably connected with wheels by using a ball head device and is suitable for the curved surface of the outer wall of the ship; the steering device enables the robot to realize flexible steering movement, and reduces the torque requirement on the driving motor; the cleaning device utilizes the ultrahigh-pressure water jet to perform rust removal and cleaning work, and recovers and treats the wastewater and the rust slag, so that the cleaning device is clean and environment-friendly and has low noise pollution.
Description
Technical Field
The invention relates to a ship cleaning device, in particular to a marine ultrahigh-pressure water cleaning wheel type wall-climbing robot.
Background
The derusting and cleaning of the ship is an important business in the ship industry, is an indispensable important link for shipbuilding and ship repairing, and is a primary step before ship coating. In addition, the outer wall of the ship is immersed in seawater for a long time and is corroded by the seawater, and the outer wall of the ship is inevitably corroded along with the increase of the service life of the ship. The workload of cleaning and derusting the outer wall of the ship is very large every year, so that the research on an automatic efficient derusting and cleaning mode is necessary. In recent years, with the rapid development of mobile robots, wall climbing robots are highly valued in various fields, and most of the wall climbing robots applied to the ship industry are well applied to welding, rust removal, paint spraying and other work. The existing cleaning robot has a complex and heavy structure and is difficult to meet the requirement of cleaning the curved surface of the outer wall of a ship.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an ultrahigh pressure water cleaning wheel type wall climbing robot for a curved surface of an outer wall of a ship.
The technical scheme is as follows: the invention relates to a marine ultrahigh-pressure water cleaning wheel type wall-climbing robot, which comprises a framework, wherein four walking devices are arranged at the front end and the rear end of the framework, two adsorption devices are arranged at the front bottom and the rear bottom of the framework, and a cleaning device is arranged in the center of the framework; each walking device comprises a wheel, a driving motor and a speed reducer, wherein the driving motor is movably connected with the wheel through a connecting shaft with a ball head.
The four traveling devices are mainly used for ensuring the traveling capacity of the robot, the wheels are movably connected with the driving motor through the ball head devices, and the ball head devices enable the four wheels of the robot to be in contact with the wall surface of the ship all the time on the curved surface of the outer wall of the ship, so that the robot is not suspended and the traveling capacity of the robot is ensured.
Preferably, a front wheel steering mechanism is further connected between the two running gears provided at the front end of the frame. Two wheels at the front end of the robot can be controlled to rotate by a steering mechanism.
Preferably, the front wheel steering mechanism comprises a steering motor and a connecting rod, a rack is mounted on the connecting rod, a gear is meshed on the rack, and the gear is connected with a steering shaft on the steering motor; the two ends of the connecting rod are provided with bent connecting rods connected with the driving motor, and rotating shafts are arranged at corners of the bent connecting rods. The connecting rod is driven to move through the steering shaft, the connecting rod drives the bent connecting rod to rotate, then the front wheel is driven to rotate left and right, the robot achieves steering movement, and the device can reduce the torque requirement of the driving motor.
Preferably, the adsorption device comprises a plurality of groups of permanent magnetic adsorption units, and the permanent magnetic adsorption units are linear Halbach array magnetic circuits. The magnetic circuit obviously enhances the magnet adsorption force, and the arrangement of the front wheel and the rear wheel enables the moment generated by the magnetic force to be larger, so that the wall attachment capability of the robot can be improved.
Preferably, the permanent magnet adsorption unit is of a tile-shaped structure and is composed of five permanent magnet blocks, and the magnetizing directions sequentially are as follows: up N down S, left S right N, up S down N, left N right S, up N down S. The tile-shaped structure designed by the permanent magnetic adsorption unit has smaller volume, increases the magnet-to-mass ratio of the magnet, reduces the required space, is matched with a wheel-type walking mode, and avoids structural conflict.
Preferably, the cleaning device comprises a cleaning disc, the cleaning disc is a cavity with an opening at the bottom, a soft edge is attached to the outer edge of the bottom, a high-pressure water inlet and a connecting port of a vacuum recovery system are arranged at the top of the cleaning disc, and a high-pressure water spraying disc with a spray head is arranged in the cavity. The water inlet is connected with the ultrahigh pressure water pipe to provide high pressure water with enough pressure intensity, the connecting port is connected with the vacuum recovery system, the rust residue sewage is treated by the recovery system, secondary rust return and pollution cannot be caused, and the vacuum recovery system can offset the vacuum adsorption force in the cleaning disc and the impact force of high pressure water jet flow by adjusting the vacuum pressure intensity in the cleaning disc; the inside of the cleaning disc is provided with an ultrahigh-pressure water jet nozzle which converts high-pressure water flow into high-flow-speed water jet to impact and degrade a rust layer on the wall surface of a ship so as to remove rust, and the recoil force generated by the water flow during the work enables the spraying disc to passively rotate; the soft edge enables the cleaning disc to have flexibility, and the cleaning disc is tightly attached to the curved surface of the outer wall of the ship, so that the vacuum state in the cleaning disc is kept.
Preferably, the cleaning device is movably connected to a mounting plate of the frame up and down. When the robot passes through obstacles such as welding seams and bulges on the surface of the ship, the cleaning disc can be lifted to pass over the obstacles.
Preferably, the frame is composed of two side connecting plates and a front and rear connecting steel frame, and supports the whole structure of the robot. The structural strength of the robot is enhanced, and the load bearing capacity of the robot is improved.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: 1. the invention adopts four-wheel drive and adopts a wheel ball head connecting device which is suitable for the curved surface working environment; 2. the magnetic circuit tile-shaped adsorption unit is designed, the magnetic-iron magnetic mass ratio is increased, the required space is reduced, the magnetic circuit tile-shaped adsorption unit is matched with a wheel type walking mode, and the structural conflict is avoided; 3. the invention adopts wheel type walking, the walking speed is faster, and the working efficiency is improved; 4. the invention designs the front wheel steering system, so that the robot can steer flexibly, and the required driving torque is reduced; 5. the invention adopts an ultrahigh pressure water jet cleaning and rust removing mode, utilizes vacuum to recover waste water, is cleaner and more environment-friendly, and has little noise pollution.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of a front wheel steering mechanism;
FIG. 4 is a schematic view of a ball head device;
FIG. 5 is a schematic view of a permanent magnet adsorption unit;
FIGS. 6-8 are force analysis diagrams of the present invention;
FIG. 9 is a diagram of the working path of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
The invention relates to a marine ultrahigh-pressure water cleaning wheel type wall-climbing robot, which comprises a frame 1, wherein four walking devices 2 are arranged at the front end and the rear end of the frame 1, two adsorption devices 3 are arranged at the front bottom and the rear bottom, and a cleaning device 4 is arranged in the center; each running gear 2 comprises a wheel 21, a driving motor 22 and a speed reducer 23, wherein the driving motor 22 is movably connected with the wheel 21 through a connecting shaft 25 with a ball head 24.
The walking device 2 consists of wheels 21, driving motors 22, a speed reducer 23, a connecting shaft 25 and a fixing frame, wherein the driving motors 22 are used for providing power for the robot to enable the robot to have walking and obstacle crossing capabilities, when the four driving motors 22 rotate in the same direction and at the same speed, the robot moves forwards or backwards, when the left side and the right side of the robot drive the motors 22 to rotate in the same direction and the rotating speeds of the robot are different, the robot starts to rotate, if the rotating speed of the left side is greater than that of the right side, the robot rotates rightwards, if the rotating speed of the right side is greater than that of the left side, the robot rotates leftwards, and when the rotating speeds of the left and right driving motors 22 are opposite, the robot rotates in a steering way; the fixing frame is used for fixing the driving motor on the robot frame 1; the connecting shaft 25 is used for connecting the driving motor 22 with the wheel 21, so that the wheel of the robot is driven to rotate, and the robot moves. The wheels 21 are rubber wheels, so that the loading capacity of the robot can be effectively improved, two wheels at the front end of the robot can be controlled to rotate through the front wheel steering mechanism 5, and the wheels 21 are connected with the connecting shaft 25 through the ball heads 24. On the curved surface of the outer wall of the ship, the ball head 24 device enables four wheels of the robot to be in contact with the wall surface of the ship all the time, a suspension state does not occur, and the walking capability of the robot is guaranteed.
The front wheel steering mechanism 5 comprises a steering motor 51 and a connecting rod 53, wherein a rack is arranged on the connecting rod 53, a gear is meshed on the rack, and the gear is connected with a steering shaft 52 on the steering motor 51; and two ends of the connecting rod 53 are provided with a curved connecting rod 54 connected with the driving motor 22, and a rotating shaft 55 is arranged at the corner of the curved connecting rod 54. The steering shaft 52 drives the connecting rod 53 to move, the connecting rod 53 drives the curved connecting rod 54 to rotate, and the steering motor 51 is fixed on the frame 1 through a motor frame. When the steering motor 51 drives the rotating shaft to rotate clockwise, the wheels rotate leftwards, and the robot starts to rotate rightwards; when the steering motor 51 drives the rotating shaft to rotate anticlockwise, the wheels rotate rightwards, and the robot starts to rotate rightwards.
The adsorption device 3 consists of six permanent magnetic adsorption units 31, is a novel magnetic circuit tile-shaped adsorption unit, is divided into two groups which are respectively arranged below a robot frame between front and rear wheels and fixed by screws and the frame, and is a linear Halbach array magnetic circuit, each permanent magnetic adsorption unit is divided into five magnetic blocks, the magnetizing direction is ℃ → ↓ ← ℃. (magnetic field direction is sequentially), the magnetic circuit remarkably enhances the magnetic adsorption force, and the arrangement at the front and rear wheels enables the moment generated by the magnetic force to be larger, so that the wall attachment capability of the robot can be improved; the tile-shaped structure designed by the permanent magnetic adsorption unit 31 is smaller in size, the magnetic-to-mass ratio of the magnet is increased, the required space is reduced, the tile-shaped structure is matched with a wheel type walking mode, and the structural conflict is avoided.
The cleaning device 4 comprises a cleaning disc 41, a connecting spring, a fixing plate, a spray disc 43 and a soft edge 42, wherein the cleaning disc 41 is a main working device, an ultrahigh pressure water inlet 44 and a recovery interface 45 are arranged above the cleaning disc 41, the ultrahigh pressure water inlet 44 is connected with an ultrahigh pressure water pipe to provide high pressure water with enough pressure, the recovery interface 45 is connected with a vacuum recovery system, rust slag sewage is treated by the recovery system, secondary rust return and pollution cannot be caused, and the vacuum recovery system can make the vacuum adsorption force in the cleaning disc offset with the impact force of high pressure water jet flow by adjusting the vacuum pressure in the cleaning disc; the inside of the cleaning disc 41 is provided with an ultrahigh pressure water jet spray disc which converts high pressure water flow into high flow velocity water jet, plays roles of impacting and denudating a rust layer on the wall surface of a ship to remove rust, and a recoil force generated by the water flow enables the spray head to passively rotate during working; the cleaning disc is connected with the robot body frame 1 through a fixing plate and a connecting spring, and the fixing plate fixes the cleaning disc 41 to ensure that the cleaning disc does not move transversely; the function of the connecting spring is to enable the cleaning disc 41 to have the capability of moving up and down, so that the robot can pass through obstacles such as welding seams and bulges on the surface of the ship, and the cleaning disc can be lifted to pass over the obstacles; the soft edge 42 provides flexibility to the wash tray and fits snugly against the curved surface of the outer wall of the vessel to maintain the vacuum condition within the wash tray.
As shown in FIGS. 6 to 8, when the robot is stationary on the ship wall surface, the robot is attracted by the attraction force F m The force component perpendicular to the wall surface with the gravity G generates static friction force F by the support force of the wall surface f The downward component force of the gravity G along the wall surface is counteracted, and the robot does not slide down at the moment; if the robot turns around the contact point C between the rear wheel and the wall surface of the robot, the suction force F of the suction unit of the front wheel is needed m The generated moment is larger than that generated by the gravity G, so that the robot can be ensured not to overturn. When the wall climbing robot advances at a constant speed, the robot needs to be drivenThe robot driving torque is larger than the torque generated by static friction and the torque generated by rolling friction. After stress analysis and simulation calculation, the adsorption force F of the adsorption unit without sliding down or overturning when the robot attaches to the wall is obtained m The relation with the wall surface inclination angle alpha and the driving torque M required by each driving motor of the wall-climbing robot when the wall-climbing robot advances at a constant speed T With the wall inclination angle alpha.
In order to ensure the wall attaching capability and the driving capability of the robot, statics and dynamics analysis is carried out on the wall climbing robot.
(1) Statics analysis
To avoid the downslide, the condition should be satisfied:
to avoid overturning, the conditions should be met:
(2) kinetic analysis
In order to ensure that the robot walks on the wall surface, the following conditions are met:
the relation between the adsorption force of the permanent magnet adsorption unit and the torque moment of the driving motor and the inclination angle of the wall surface of the ship body is obtained by substituting various parameters (G is 2300N, mu is 0.3-0.5, L is 0.33m, H is 0.2m, R is 0.125m, and mu' <0.01) of the robot into a formula and utilizing Matlab software to carry out simulation calculation.
The most dangerous inclined angle of the wheel type robot in gliding is about 18 degrees, and the maximum adsorption force of each permanent magnetic adsorption unit is about 1132N; the most dangerous inclination angle of overturning is about 60 degrees, and the adsorption force of each permanent magnet adsorption unit is about 449N at most. When the wall climbing robot moves forwards at a constant speed, the maximum output torque required by a single driving motor is maximum when the wall surface inclination angle is 0 degrees and is about 80.3 N.m.
The permanent magnet unit for the wall climbing robot can provide the adsorption force of 1913N, the rated torque of a driving motor is 1.27 N.m, the reduction ratio of a speed reducer is 100, and the wall attachment and driving requirements are met.
As shown in fig. 7, the most dangerous inclination angle of the wheeled robot sliding down is about 18 °, and the maximum adsorption force 1132N of each permanent magnet unit 31 is; the most dangerous inclination angle of overturning is about 60 degrees, and the adsorption force of each permanent magnet unit is about 449N at most. As shown in fig. 8, the maximum output torque required for a single motor when climbing up at a constant speed is maximum at a wall surface inclination angle of 0 °, and is about 80.3N · m. The wheel type wall climbing robot has the advantages that the permanent magnet adsorption unit selected by the wheel type wall climbing robot has the adsorption force of 1913N, and meets the wall attachment requirement of the robot; the rated torque of the selected driving motor is 1.27 N.m, the reduction ratio of the speed reducer is 100, and the driving requirement of the robot is met.
As shown in fig. 9, the work flow of the wall-climbing robot on the wall surface of the ship is as follows: the robot is driven to move upwards along the straight line of the wall surface of the ship until the robot approaches the ship board, the steering mechanism drives the front wheel to rotate rightwards, so that the robot is in orbit changing, then the robot is driven to linearly retreat downwards until the robot approaches the bottom of the ship, the steering mechanism drives the front wheel to rotate rightwards again, so that the robot is in orbit changing, then the upwards movement, the orbit changing, the downwards movement and the orbit changing are repeated, and the outer wall of the whole ship is cleaned completely.
Claims (8)
1. A marine ultrahigh-pressure water cleaning wheel type wall-climbing robot comprises a frame (1) and is characterized in that four walking devices (2) are mounted at the front end and the rear end of the frame (1), two adsorption devices (3) are mounted at the bottoms of the front end and the rear end, and a cleaning device (4) is arranged in the center; each walking device (2) comprises wheels (21), a driving motor (22) and a speed reducer (23), wherein the driving motor (22) is movably connected with the wheels (21) through a connecting shaft (25) with a ball head (24).
2. The marine ultrahigh-pressure water cleaning wheel type wall-climbing robot as claimed in claim 1, characterized in that a front wheel steering mechanism (5) is further connected between the two running gears (2) arranged at the front end of the frame (1).
3. The marine ultrahigh-pressure water cleaning wheel type wall climbing robot as claimed in claim 2, wherein the front wheel steering mechanism (5) comprises a steering motor (51) and a connecting rod (53), a rack is mounted on the connecting rod (53), a gear is meshed on the rack, and the gear is connected with a steering shaft (52) on the steering motor (51); and two ends of the connecting rod (53) are provided with a curved connecting rod (54) connected with the driving motor (22), and a rotating shaft (55) is arranged at the corner of the curved connecting rod (54).
4. The marine ultrahigh-pressure water cleaning wheel type wall climbing robot is characterized in that the adsorption device (3) comprises a plurality of groups of permanent magnet adsorption units (31), and the permanent magnet adsorption units (31) are linear Halbach array magnetic circuits.
5. The marine ultrahigh-pressure water cleaning wheel type wall-climbing robot as claimed in claim 4, wherein the permanent magnetic adsorption unit is of a tile-shaped structure and is composed of five permanent magnetic blocks, and the magnetizing directions are sequentially as follows: up N down S, left S right N, up S down N, left N right S, up N down S.
6. The marine ultrahigh-pressure water cleaning wheel type wall climbing robot as claimed in claim 1, wherein the cleaning device (4) comprises a cleaning disc (41), an open cavity is formed at the bottom of the cleaning disc (41), a soft edge (42) is attached to the outer edge of the bottom, a high-pressure water inlet (44) and a connecting port (45) of a vacuum recovery system are formed in the top of the cleaning disc, and a high-pressure water spraying disc (43) with a spraying nozzle is arranged in the cavity.
7. The marine ultra-high pressure water cleaning wheel type wall climbing robot as claimed in claim 1, characterized in that the cleaning device (4) is movably connected to the mounting plate of the frame (1) up and down.
8. The marine ultrahigh-pressure water cleaning wheel type wall-climbing robot is characterized in that the frame (1) comprises two side connecting plates (11) and a front and rear connecting steel frame (12), and the whole structure of the robot is supported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210394799.1A CN114954717A (en) | 2022-04-15 | 2022-04-15 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210394799.1A CN114954717A (en) | 2022-04-15 | 2022-04-15 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
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| Publication Number | Publication Date |
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| CN114954717A true CN114954717A (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210394799.1A Pending CN114954717A (en) | 2022-04-15 | 2022-04-15 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
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| Country | Link |
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| CN (1) | CN114954717A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115959253A (en) * | 2022-10-19 | 2023-04-14 | 彼合彼方机器人(天津)有限公司 | High-pressure water rust removal robot for outer wall surfaces of different ships |
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| CN107585271A (en) * | 2016-07-07 | 2018-01-16 | 上海交通大学 | The big seam wall-climbing robot for removing rust of hull wall |
| CN107757841A (en) * | 2017-11-12 | 2018-03-06 | 张广 | A kind of automatic climbing robot device of ship derusting based on high-pressure water jet |
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| US20190152544A1 (en) * | 2017-11-22 | 2019-05-23 | Ali Outa | Apparatus and related method for coating an irregular surface |
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| CN112027015A (en) * | 2020-09-22 | 2020-12-04 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN113042445A (en) * | 2021-04-09 | 2021-06-29 | 广东海洋大学 | Rust removal and sewage recovery device of ship rust removal robot |
-
2022
- 2022-04-15 CN CN202210394799.1A patent/CN114954717A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN101138994A (en) * | 2007-09-29 | 2008-03-12 | 华中科技大学 | Wheeled type permanent magnetism adsorption pipeline creeping robot |
| CN105947143A (en) * | 2016-05-07 | 2016-09-21 | 安徽科技学院 | Crawling robot for cleaning ship shell |
| CN107585271A (en) * | 2016-07-07 | 2018-01-16 | 上海交通大学 | The big seam wall-climbing robot for removing rust of hull wall |
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| US20190152544A1 (en) * | 2017-11-22 | 2019-05-23 | Ali Outa | Apparatus and related method for coating an irregular surface |
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| CN111572725A (en) * | 2019-02-19 | 2020-08-25 | 深圳市行知行机器人技术有限公司 | Curved surface self-adaptive underwater wall-climbing robot |
| CN112027015A (en) * | 2020-09-22 | 2020-12-04 | 天津科技大学 | Adsorption type underwater cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115959253A (en) * | 2022-10-19 | 2023-04-14 | 彼合彼方机器人(天津)有限公司 | High-pressure water rust removal robot for outer wall surfaces of different ships |
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Inventor after: Yao Zhenqiu Inventor after: An Shuai Inventor after: Ling Hongjie Inventor after: Li Xiaohu Inventor before: An Shuai Inventor before: Ling Hongjie Inventor before: Li Xiaohu Inventor before: Yao Zhenqiu |
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Application publication date: 20220830 |