CN208555411U - Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system - Google Patents
Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system Download PDFInfo
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- CN208555411U CN208555411U CN201821034174.XU CN201821034174U CN208555411U CN 208555411 U CN208555411 U CN 208555411U CN 201821034174 U CN201821034174 U CN 201821034174U CN 208555411 U CN208555411 U CN 208555411U
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Abstract
The utility model discloses ship, petrochemical industry storage tank wall surfaces to climb wall rust removing robot work system, the climbing robot is connected with catching device by flexible protective rope, the catching device is connected on the wall surface of ship, petrochemical industry storage tank, and the climbing robot is fixedly connected with vacuum cleaners.The utility model solves the problems, such as that derusting operation uses artificial and needs to build more auxiliary equipment, increases rust cleaning efficiency, reduces harm of the dust to construction personnel, reduce the cost that derusts.The utility model effectively reduces the pollution to environment, meet the requirement of environmental protection in such a way that recyclable device is separated with waste water.The utility model controls climbing robot and high pressure water system by the way of remote control, and all controls can carry out in display setting terminal, operates more convenient.The vacuum cleaners of the utility model are mounted on the abdomen of climbing robot, containing self-reacting device, can adaptive rough outer surface, increase the environmental suitability of derusting operation.
Description
Technical field
The utility model relates to derust cleaning field more particularly to ship, that petrochemical industry storage tank wall surface climbs wall scaling machine is artificial
Make system.
Background technique
Magnetic conductivity working face and petrochemical industry storage tank outer surface are opened on a large scale in boat segmental outer surface etc., due to working range
It is usually larger, it needs temporarily to build scaffold when carrying out derusting operation, construction personnel is sought connections with again to derusting on scaffold
Operation.The derusting operation of tank body and ship outer surface at present is based on hydroblasting, and the derusting of hull surface is still with spray
Based on ball, sandblasting or water gaza, now based on hydroblasting recovery system, operation mode is by trash discharge to environment
In, i.e., operation mode is open operation, at high cost, serious waste of resources.When open sandblasting or shot-peening operation, in material
Dust can generate fugitive dust under the injection of huge air-flow, pollute environment, damage operating personnel's health.Open high pressure water removes
Although rust recovery system operation, which avoids the paint removed with the help of high pressure water and writes freely and easily, causes fugitive dust in air, with water
It is discharged into after mixing in ground or seawater and not only pollutes environment also waste water resource.Meanwhile the surface after operation can be because of attachment
Have water and it is counter become rusty, cause certain difficulty for spray painting operation.
Application No. is 200810019011.9, the applying date is that the Chinese patent of 2008.1.8 is related to a kind of truck high-pressure water-jet
Rust cleaning production line and technique are flowed, the spray head rotation in vacuum cleaners can work by the spinning of water jet recoil strength, can also
With by the pressures such as air motor driving rotation, the latter's working performance is more stable, and high-pressure water spinning sprinkler head is equipped with housing,
Housing and vacuum recovery system connection.But there are two defect is its high-pressure water nozzle only, the primary area very little that derusts, derusting effect
Rate is low, thus needs a kind of recoverable derusting device and be mounted on to climb on wall rust removing robot, can not only accomplish environmental protection without dirt
Dye, while can also be improved rust cleaning efficiency, operating cost is reduced, operation quality is improved.
Summary of the invention
Purpose of the utility model is to solve disadvantages existing in the prior art, and ship, the petrochemical industry storage tank proposed
Wall surface climbs wall rust removing robot work system.
To achieve the goals above, the utility model adopts the technical scheme that
Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system, including climbing robot, the climbing robot
It is connected with catching device by flexible protective rope, the catching device is connected on the wall surface of ship, petrochemical industry storage tank, the wall-climbing device
People is fixedly connected with vacuum cleaners, and the vacuum cleaners are connected with one end of high pressure water output pipe, and the high pressure water is defeated
The other end of pipeline is connected with high pressure water system out, and the vacuum cleaners are connected with one end of recovery pipe, the recovery tube
The other end on road is connected with vacuum recovery system, and the vacuum recovery system is connected with waste water separation unit by waste pipe, institute
It states vacuum cleaners and control unit is connected with by transmission signal line, described control unit is connected with display by data cable and sets
Set terminal.
Preferably, the catching device is fixed on ship, petrochemical industry storage tank wall surface by magnetic-adsorption.
Preferably, the high pressure water output pipe and recovery pipe are both connected to the back of climbing robot, the vacuum
Washer is fixedly connected at the abdomen center of climbing robot.
Preferably, the start and stop of the movement and high pressure water system for controlling climbing robot are integrated in described control unit
Wireless remote-control system signal receiving end.
Preferably, the knob for adjustment parameter setting is provided in the display setting terminal and show walking speed in real time
Degree, the working time, current working status display screen.
Preferably, the climbing robot is fixedly connected with disengaging sensing dress close to the side of ship, petrochemical industry storage tank wall surface
It sets.
Preferably, the climbing robot is moved by way of permanent magnetic suck in ship or petrochemical industry storage tank outer surface.
Compared with prior art, the utility model has the beneficial effects that
1. the utility model solves the problems, such as that derusting operation uses artificial and needs to build more auxiliary equipment, increase is removed
Rust efficiency reduces harm of the dust to construction personnel, reduces derusting cost.
2. the utility model in such a way that recyclable device is separated with waste water, effectively reduces the pollution to environment, reach
To environmental requirement.
3. the utility model controls climbing robot and high pressure water system by the way of remote control, all controls
System can carry out in display setting terminal, operate more convenient.
It, can be adaptive containing self-reacting device 4. the vacuum cleaners of the utility model are mounted on the abdomen of climbing robot
Rough outer surface is answered, the environmental suitability of derusting operation is increased.
Detailed description of the invention
Fig. 1 is the whole ship of the utility model, petrochemical industry storage tank wall surface robot system architecture figure；
Fig. 2 is control system composition figure；
Fig. 3 is vacuum cleaners installation diagram；
Fig. 4 is the cross section view of A-A；
Fig. 5 is robot operative orientation schematic diagram.
In figure: high pressure water system 1, climbing robot 2, vacuum cleaners 3, vacuum recovery system 4, display setting terminal 5,
Control unit 6, waste water separation unit 7, catching device 8.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-5, ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system, including climbing robot 2, institute
It states climbing robot 2 to move by way of permanent magnetic suck in ship or petrochemical industry storage tank outer surface, the climbing robot 2 is close
Ship, petrochemical industry storage tank wall surface side be fixedly connected with disengaging sensing device, when normal operation, is detached from sensing device and is derusted
Part surface distance is if that 0mm~20mm is considered as wall-climbing device be detached from sensing device and de-rusted part surface distance greater than 20mm
There is the state that falls off of turning on one's side in people 2, and control unit 6 controls high pressure water system 1 and stops working.
The climbing robot 2 is connected with catching device 8 by flexible protective rope, and the catching device 8 passes through magnetic field pulse hoist
It is absorbed and fixed at the wall surface of ship, petrochemical industry storage tank, when 2 lapse rate of climbing robot is more than 2m/s, catching device 8 is locked automatically
Tightly, the climbing robot 2 is fixedly connected with vacuum cleaners 3.
The case where vacuum cleaners 3 can derust according to wall surface, it is real by adjusting the adjustable derusting distance of limit castor
Now better derusting effect.So that once derusting area greatly increases, under the circumference of the high-speed rotation, with the shifting of derusting device
Dynamic, derusting width also greatly increases, and rust cleaning efficiency also greatly improves therewith.By increasing hairbrush in the bottom of vacuum cleaners 3
So that generating vacuum cavity inside vacuum cleaners 3, be conducive to the recycling of waste water and anvil cinder.Air driven motor can drive high pressure
Sprinkler head revolution, performance is more stable, and descaling process is more uniform, and derusting effect is more preferable.The anti-of high pressure water itself can also be passed through
Impulse force drives spray head revolution.The vacuum cleaners 3 are simple and compact for structure, convenient for combining with climbing robot 2, may be implemented
More easily derusting operation.
The vacuum cleaners 3 are connected with one end of high pressure water output pipe, the other end of the high pressure water output pipe
It is connected with high pressure water system 1, the vacuum cleaners 3 are connected with one end of recovery pipe, and the other end of the recovery pipe connects
It is connected to vacuum recovery system 4, and vacuum cleaners 3 are fixedly connected at the abdomen center of climbing robot 2, the high pressure water is defeated
Pipeline and recovery pipe are both connected to the back of climbing robot 2 out, and vacuum recovery system 4 is by Roots vaccum pump, muffler, true
Empty knockout drum recycles system with pipe valve, separator, filter, deduster, draining pump, water storage tank and Electric Appliance Cabinet composition, the vacuum
System 4 is connected with waste water separation unit 7 by waste pipe, and the vacuum cleaners 3 are connected with control unit by transmission signal line
6。
The nothing of the movement for controlling climbing robot 2 and the start and stop of high pressure water system 1 is integrated in described control unit 6
Line remote control system signal receiving end, described control unit 6 are located in Electric Appliance Cabinet, and described control unit 6 is connected by data cable
There is display setting terminal 5, status display, fault alarm and parameter of the display setting terminal 5 for work at present system are set
It sets, the knob for adjustment parameter setting is provided in the display setting terminal 5 and shows the aobvious of work at present system mode
Display screen.
The course of work of this system are as follows:
Step 1, catching device 8 is adsorbed in ship outer surface by magnetic field pulse hoist, wherein magnetic field pulse hoist is to pass through magnetic
Suction-operated is adsorbed onto marine surface and equipped with rocking bar, easy to disassemble, and magnetic field pulse hoist is detached from marine surface when disassembly.It will be anti-fall
The protective rope of device 8 is connected to climbing robot 2.
Step 2, climbing robot 2 is placed in ship outer surface or other a wide range of open magnetic conductivity working faces.
Step 3, controlling cable is connected, high pressure water output pipe and recovery pipe are connected, starts climbing robot 2, starting
Vacuum recovery system 4 and waste water separation unit 7.
Step 4,2 kinematic parameter of climbing robot, cleaning parameter are set by display setting terminal 5.
Step 5, the movement instruction of climbing robot 2 is issued by wireless remote-control system.
Step 6,1 job instruction of high pressure water system is opened by wireless remote-control system, climbing robot 2 is i.e. according to remote control road
Diameter carries out derusting operation.
Step 7, after completing a certain derusting process, the position of climbing robot 2 is adjusted by wireless remote-control system, under
One procedure.
Step 8, when all derusting processes execute after, close high pressure water system 1 and by climbing robot 2 driving to
Divestment area.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its inventive concept is subject to equivalent substitution or change, should all cover the protection scope of the utility model it
It is interior.
Claims (7)
1. ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system, including climbing robot (2), which is characterized in that institute
It states climbing robot (2) to be connected with catching device (8) by flexible protective rope, the catching device (8) is connected to ship, petrochemical industry storage tank
Wall surface on, the climbing robot (2) is fixedly connected with vacuum cleaners (3), and the vacuum cleaners (3) are connected with high pressure
The one end on water delivery pipe road, the other end of the high pressure water output pipe are connected with high pressure water system (1), the vacuum cleaners
(3) it is connected with one end of recovery pipe, the other end of the recovery pipe is connected with vacuum recovery system (4), and the vacuum is returned
Receipts system (4) is connected with waste water separation unit (7) by waste pipe, and the vacuum cleaners (3) are connected by transmission signal line
Have control unit (6), described control unit (6) is connected with display setting terminal (5) by data cable.
2. ship according to claim 1, petrochemical industry storage tank wall surface climb wall rust removing robot work system, which is characterized in that
The catching device (8) is fixed on the wall surface of ship, petrochemical industry storage tank by magnetic-adsorption.
3. ship according to claim 1, petrochemical industry storage tank wall surface climb wall rust removing robot work system, which is characterized in that
The high pressure water output pipe and recovery pipe are both connected to the back of climbing robot (2), and the vacuum cleaners (3) are fixed
It is connected at the abdomen center of climbing robot (2).
4. ship according to claim 1, petrochemical industry storage tank wall surface climb wall rust removing robot work system, which is characterized in that
The wireless of the movement for controlling climbing robot (2) and the start and stop of high pressure water system (1) is integrated in described control unit (6)
Remote control system signal receiving end.
5. ship according to claim 1, petrochemical industry storage tank wall surface climb wall rust removing robot work system, which is characterized in that
It is provided with the knob for adjustment parameter on display setting terminal (5) and shows the real-time speed of travel, working time, current
The display screen of working condition.
6. ship according to claim 1, petrochemical industry storage tank wall surface climb wall rust removing robot work system, which is characterized in that
The climbing robot (2) is fixedly connected with disengaging sensing device close to the side of ship, petrochemical industry storage tank wall surface.
7. ship according to claim 1, petrochemical industry storage tank wall surface climb wall rust removing robot work system, which is characterized in that
The climbing robot (2) is moved by way of permanent magnetic suck in ship or petrochemical industry storage tank outer surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821034174.XU CN208555411U (en) | 2018-07-02 | 2018-07-02 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821034174.XU CN208555411U (en) | 2018-07-02 | 2018-07-02 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
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| Publication Number | Publication Date |
|---|---|
| CN208555411U true CN208555411U (en) | 2019-03-01 |
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ID=65490794
Family Applications (1)
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|---|---|---|---|
| CN201821034174.XU Active CN208555411U (en) | 2018-07-02 | 2018-07-02 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655135A (en) * | 2018-07-02 | 2018-10-16 | 洛阳圣瑞智能机器人有限公司 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
| CN109926235A (en) * | 2019-03-15 | 2019-06-25 | 上海外高桥造船有限公司 | Determine the method and coating process of the Performance Influence Factor size of paint robot |
| CN110270976A (en) * | 2019-06-17 | 2019-09-24 | 广州力多机器人智能科技有限公司 | Robot group system |
| CN110508518A (en) * | 2019-09-30 | 2019-11-29 | 大唐东营发电有限公司 | A kind of removal black dirt structure of thermoelectricity station-service boiler surfaces |
-
2018
- 2018-07-02 CN CN201821034174.XU patent/CN208555411U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655135A (en) * | 2018-07-02 | 2018-10-16 | 洛阳圣瑞智能机器人有限公司 | Ship, petrochemical industry storage tank wall surface climb wall rust removing robot work system |
| CN109926235A (en) * | 2019-03-15 | 2019-06-25 | 上海外高桥造船有限公司 | Determine the method and coating process of the Performance Influence Factor size of paint robot |
| CN109926235B (en) * | 2019-03-15 | 2020-06-30 | 上海外高桥造船有限公司 | Method for determining performance influence factor of coating robot and coating process |
| CN110270976A (en) * | 2019-06-17 | 2019-09-24 | 广州力多机器人智能科技有限公司 | Robot group system |
| CN110508518A (en) * | 2019-09-30 | 2019-11-29 | 大唐东营发电有限公司 | A kind of removal black dirt structure of thermoelectricity station-service boiler surfaces |
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