CN209774631U - Special intelligent robot for repairing dock block position in ship repairing and building - Google Patents
Special intelligent robot for repairing dock block position in ship repairing and building Download PDFInfo
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- CN209774631U CN209774631U CN201920370912.6U CN201920370912U CN209774631U CN 209774631 U CN209774631 U CN 209774631U CN 201920370912 U CN201920370912 U CN 201920370912U CN 209774631 U CN209774631 U CN 209774631U
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Abstract
An intelligent robot special for repairing a docking block of a ship. The problems that the existing docking block is troublesome to repair and derust, and time and labor are wasted are solved. The working arm has a first state of amplitude-changing falling and a second state of amplitude-changing rising, the working arm has a first position extending out for facilitating working and a second position contracting for facilitating passing of obstacles, and the working arm can be in the first position or the second position when in the first state and the second state. The utility model discloses an intelligent robot's setting can be repaired, is sprayed paint dock block particular position, and the flexibility is high, and is automatic high, and the adaptation scene is many, and can derust, spray paint, work such as cutting, welding.
Description
Technical Field
The utility model relates to a device that surface maintenance was carried out on iron-based surface, specifically speaking is the surface maintenance robot that can be used to operations such as the clearance of inside and outside surfaces such as storage tank, boats and ships, rust cleaning, repair, concretely relates to special intelligent robot of boats and ships repair dock block position.
Background
The cleaning, decontamination, derusting, paint repair and the like of the ship side are all operations which are required to be carried out for ship maintenance, and at present, the ship maintenance operation is carried out, and only the ship can be stopped in a dock and then is carried out, so that not only is longer time consumed, but also much expense such as dock use expense is required for maintenance, and the cost is high. A dock is a dock-type building for repairing ship, which can be used for filling water and making ship pass in and out, and can be used for repairing ship on dry bottom after water is drained. Docks can be classified into dry docks, water injection docks and floating docks, and are arranged in shipyards, mainly for ship repair. The dock is a working platform for repairing and building ships in a shipyard, and is a place for repairing and building ships. Is a site facility for ship repair which is manually processed in a shipyard, and the construction and overhaul of ships are performed in a dock. Dock repair refers to repair work performed on hull structures below a waterline, propulsion devices and other components or equipment which cannot be constructed when floating on the water surface in a dock. The ship dock repair is an important work, which is different from the routine maintenance of crew members and the targeted voyage-specific repair, and is a comprehensive system engineering closely related to the maintenance. The high-quality and high-efficiency dock maintenance is an important guarantee for normal operation and safety management of the ship, and inspection or special inspection during the combined inspection of the dock maintenance is also a necessary program for keeping the ship level of the ship. The docking block is generally arranged at the bottom of the dock and is a block for supporting a ship body, and the docking block is special in position and lower than 2 meters in height, so that manual repair is troublesome, and repair, rust removal, paint spraying and other troubles are caused.
SUMMERY OF THE UTILITY MODEL
The problem of rust cleaning trouble, waste time and energy is repaired to current docking block in solving the background art, the utility model provides a special intelligent robot of docking block position is repaired to boats and ships.
The technical scheme of the utility model is that: the utility model provides a special intelligent robot of boats and ships repairing and docking block position, includes the base, the base on be equipped with carousel and a plurality of walking wheels, the carousel on be equipped with the work arm, the work arm on be equipped with operating device, the carousel have make the work arm and the base travel direction unanimous primary importance and rotate the back make the second place that the work arm is convenient for work, the work arm have become the first state that the width of cloth fell and become the second state that the width of cloth rises the work arm have stretch out the primary importance and the shrink of being convenient for work and pass through the second place of obstacle, the work arm all can be in primary importance or second place when primary importance and second state.
As an improvement of the utility model, the rotary plate, the working arm and the walking wheel are controlled by the electro-hydraulic control system to move.
As a further improvement, the electric hydraulic control system include oil tank, power supply, walking driving piece, rotary driving piece, become width of cloth hydro-cylinder, flexible hydro-cylinder and carousel driving piece, the power supply through the switching-over valve of difference respectively with walking driving piece, rotary driving piece, become width of cloth hydro-cylinder, flexible hydro-cylinder, carousel driving piece link to each other and correspond walking driving piece, rotary driving piece, become width of cloth hydro-cylinder, flexible hydro-cylinder, carousel driving piece action through the position change control of switching-over valve.
As a further improvement, the walking wheel has four at least, the walking driving piece correspond with the walking wheel and set up and control walking wheel straight line walking.
As a further improvement, the walking wheel is arranged at the bottom of the base, and each walking wheel is driven by the corresponding rotary driving piece to freely rotate relative to the base.
As a further improvement of the present invention, the turntable driving member is disposed in the base, and the turntable driving member is connected to the turntable and is used for controlling the rotation of the turntable relative to the base.
As a further improvement of the utility model, the variable-amplitude oil cylinder is hinged on the turntable, and the variable-amplitude oil cylinder is connected with the working arm and is used for controlling the working arm to change amplitude or change amplitude to fall.
As a further improvement of the utility model, the working arm has at least two sections and different working arms between the relative sliding cooperation.
As a further improvement, the operating mechanism include the rust cleaning subassembly, the rust cleaning subassembly pass through U type frame and install on the work arm, the rust cleaning subassembly including the rust cleaning head, the rust cleaning overhead brush and the universal wheel of being equipped with, the universal wheel have a plurality ofly and circumference equipartition in the outer wall outside of rust cleaning head.
As a further improvement, the rust cleaning head on be equipped with the holding chamber, the holding intracavity be equipped with the spray gun, the rust cleaning head on be equipped with water inlet and delivery port, water inlet and spray gun be linked together, delivery port and holding chamber be linked together.
The beneficial effects of the utility model are that, through intelligent robot's setting, can repair, spray paint dock block particular position, the flexibility is high, and is automatic high, and the adaptation scene is many, and can carry out the work such as rust cleaning, spray paint, cutting, welding. The utility model discloses simple structure still has, convenient assembling, and the action is reliable, advantages such as long service life.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention
Fig. 2 is a schematic structural view in another direction of fig. 1.
Fig. 3 is a hydraulic schematic diagram of an embodiment of the present invention.
In the figure, 1, a base; 2. a turntable; 3. a traveling wheel; 4. a working arm; 5. a working mechanism; 51. a rust removal assembly; 52. a U-shaped frame; 53. a derusting head; 531. an accommodating cavity; 532. a water inlet; 533. a water outlet; 54. a brush; 55. a universal wheel; 56. a spray gun; 61. an oil tank; 62. a power source; 63. a travel drive; 64. a rotary drive member; 65. a variable amplitude oil cylinder; 66. a telescopic oil cylinder; 67. a turntable drive; 68. a reversing valve.
Detailed Description
The embodiments of the present invention will be further explained with reference to the accompanying drawings:
As shown in fig. 1 and fig. 2 and 3, the intelligent robot special for repairing and building a docking block of a ship comprises a base 1, a turntable 2 and a plurality of traveling wheels 3 are arranged on the base 1, a working arm 4 is arranged on the turntable 2, a working mechanism 5 is arranged on the working arm 4, the turntable 2 has a first position enabling the working arm 4 to be consistent with the traveling direction of the base 1 and a second position enabling the working arm 4 to conveniently work after rotating, the working arm 4 has a first state of amplitude-changing and a second state of amplitude-changing, the working arm 4 has a first position extending out for facilitating work and a second position retracting for facilitating obstacle passing, and the working arm 4 can be located at the first position or the second position in the first state and the second state. The beneficial effects of the utility model are that, through intelligent robot's setting, can repair, spray paint dock block particular position, the flexibility is high, and is automatic high, and the adaptation scene is many, and can carry out the work such as rust cleaning, spray paint, cutting, welding. The utility model discloses simple structure still has, convenient assembling, and the action is reliable, advantages such as long service life. The telescopic system and the variable amplitude system of the working arm work cooperatively, and the system automatically adjusts the end load of the working arm according to the depth length of the working arm, so that the normal and stable operation of the equipment is ensured.
The rotary table 2, the working arm 4 and the walking wheel 3 are controlled by an electro-hydraulic control system to act. Specific theory, the utility model discloses all move through each part of electric liquid control system control, close or the switching-over valve adopts electromagnetic directional valve etc. like the control pump start-up. The structure ensures that the product is reliable to control and simple in structure. Specifically, a laser guide device can be arranged on the base, the base can be accurately controlled to walk, and the base is a vehicle body generally.
The electro-hydraulic control system comprises an oil tank 61, a power source 62, a walking driving piece 63, a rotary driving piece 64, a variable amplitude oil cylinder 65, a telescopic oil cylinder 66 and a turntable driving piece 67, wherein the power source 62 is respectively connected with the walking driving piece 63, the rotary driving piece 64, the variable amplitude oil cylinder 65, the telescopic oil cylinder 66 and the turntable driving piece 67 through different reversing valves 68, and controls the corresponding walking driving piece 63, the rotary driving piece 64, the variable amplitude oil cylinder 65, the telescopic oil cylinder 66 and the turntable driving piece 67 to move through the position change of the reversing valves 68. The utility model discloses well power supply adopts the diesel pump, specific theory, and hydraulic motor all can be adopted to walking driving piece, rotary driving piece, carousel driving piece, can make each part action reliable like this.
The walking wheels 3 are at least four, the walking driving piece 63 is arranged corresponding to the walking wheels 3 and controls the walking wheels 3 to walk linearly. Specifically, the walking wheels 3 are arranged at the bottom of the base 1, and each walking wheel 3 is driven by the corresponding rotary driving member 64 to rotate freely relative to the base 1. The utility model discloses a walking wheelset adopts the independent full gyration form of four wheel drives, but the arbitrary angle operation of base makes its various complicated operating modes of adaptation. Can adjust the walking wheel arbitrary direction promptly, packing force and flexible adjust according to the operating mode is different, make the utility model discloses can work under the various operating modes of adaptation.
The turntable driving part 67 is arranged in the base 1, and the turntable driving part 67 is connected with the turntable 2 and used for controlling the turntable 2 to rotate relative to the base 1. The rotary disc can be rotated through the rotary disc driving part which can be an oil cylinder or a hydraulic motor, the oil cylinder performs stretching rotation, and a constant load system (constant pressure is kept through contact of a working mechanism and a load) is arranged to enable the rotary disc to rotate.
The amplitude variation oil cylinder 65 is hinged on the rotary table 2, and the amplitude variation oil cylinder 65 is connected with the working arm 4 and is used for controlling the amplitude variation of the working arm 4 to rise or fall. Specifically, the working arm 4 has at least two sections and different working arms 4 are in relative sliding fit. The variable amplitude oil cylinder of the working arm is mainly used for loading the constant working arm and a contact object; the telescopic oil cylinder of the working arm mainly facilitates the working arm to go deep into the object to work, the two systems work in a cooperative mode, the system goes deep into the end load of the length automatic adjustment working arm according to the working arm, normal and stable operation of equipment is guaranteed, and certainly in the actual working process, the friction force can be increased through the steering of the walking wheel, so that the product acts stably and reliably.
The working mechanism 5 comprises a rust removing assembly 51, the rust removing assembly 51 is arranged on the working arm 4 through a U-shaped frame 52, the rust removing assembly 51 comprises a rust removing head 53, a hairbrush 54 and a universal wheel 55 are arranged on the rust removing head 53, and the universal wheel 55 is provided with a plurality of universal wheels which are uniformly distributed on the outer side of the outer wall of the rust removing head 53 in the circumferential direction. Specifically, the rust removing head 53 is provided with an accommodating cavity 531, a spray gun 56 is arranged in the accommodating cavity 531, the rust removing head 53 is provided with a water inlet 532 and a water outlet 533, the water inlet 532 is communicated with the spray gun 56, and the water outlet 533 is communicated with the accommodating cavity 531. The structure enables the rust removal assembly to rapidly remove rust, and the arrangement of the hairbrush and the water inlet is convenient for reliable rust removal. In actual operation, the base can be enabled to have rust removal speed and running speed, the reciprocating support can run fast at the running speed when no rust exists, when rust points exist, the speed of the reciprocating support is automatically changed into the rust removal speed by clicking a corresponding button, water enters through a water inlet to be pressurized, the button is released after the rust points are removed, the reciprocating support continues to run fast, and the like. And automatic rust removal or uniform rust removal can be realized.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The skilled person should understand that: although the present invention has been described in accordance with the above embodiments, the inventive concept is not limited to this embodiment, and any modification of the inventive concept will be included in the scope of the patent claims.
Claims (10)
1. an intelligent robot special for repairing the position of a docking block in a ship repairing dock comprises a base (1), the method is characterized in that: the base (1) is provided with a turntable (2) and a plurality of travelling wheels (3), the turntable (2) is provided with a working arm (4), the working arm (4) is provided with a working mechanism (5), the turntable (2) is provided with a first position which enables the working arm (4) to be consistent with the running direction of the base (1) and a second position which enables the working arm (4) to be convenient to work after rotating, the working arm (4) has a first state of amplitude change falling and a second state of amplitude change rising, the working arm (4) has a first position extending for facilitating work and a second position contracting for facilitating obstacle passing, the working arm (4) can be in a first position or a second position in both a first state and a second state.
2. The intelligent robot special for repairing and building the docking block according to claim 1, wherein the turntable (2), the working arm (4) and the road wheel (3) are controlled by an electro-hydraulic control system.
3. The intelligent robot special for the ship repairing and construction dock block position according to claim 2, wherein the electro-hydraulic control system comprises an oil tank (61), a power source (62), a walking driving member (63), a rotary driving member (64), an amplitude cylinder (65), a telescopic cylinder (66) and a turntable driving member (67), wherein the power source (62) is respectively connected with the walking driving member (63), the rotary driving member (64), the amplitude cylinder (65), the telescopic cylinder (66) and the turntable driving member (67) through different reversing valves (68) and controls the corresponding walking driving member (63), the rotary driving member (64), the amplitude cylinder (65), the telescopic cylinder (66) and the turntable driving member (67) to move through the position change of the reversing valves (68).
4. The intelligent robot special for repairing and docking block position of ship in accordance with claim 3, wherein there are at least four walking wheels (3), and the walking driving member (63) is disposed corresponding to the walking wheels (3) and controls the walking wheels (3) to walk linearly.
5. The intelligent robot special for ship repairing and docking block position according to claim 4, wherein the road wheels (3) are arranged at the bottom of the base (1), and each road wheel (3) is driven by a corresponding rotary driving piece (64) to rotate freely relative to the base (1).
6. The intelligent robot special for ship repairing and docking block position according to claim 3, wherein the turntable driving member (67) is arranged in the base (1), and the turntable driving member (67) is connected with the turntable (2) and used for controlling the turntable (2) to rotate relative to the base (1).
7. The intelligent robot special for the ship repairing and docking block position according to claim 3, wherein the amplitude cylinder (65) is hinged to the turntable (2), and the amplitude cylinder (65) is connected with the working arm (4) and used for controlling the amplitude of the working arm (4) to rise or fall.
8. The intelligent robot for repairing and repairing the docking block according to claim 1, wherein the at least two different working arms (4) are slidably engaged with each other.
9. The intelligent robot special for repairing and repairing the docking blocks of the ship according to claim 1, wherein the working mechanism (5) comprises a rust removal assembly (51), the rust removal assembly (51) is installed on the working arm (4) through a U-shaped frame (52), the rust removal assembly (51) comprises a rust removal head (53), a brush (54) and a universal wheel (55) are arranged on the rust removal head (53), and the universal wheel (55) is provided with a plurality of universal wheels which are circumferentially and uniformly distributed on the outer side of the outer wall of the rust removal head (53).
10. The intelligent robot special for repairing and repairing the docking block according to claim 9, wherein the rust removing head (53) is provided with an accommodating cavity (531), a spray gun (56) is arranged in the accommodating cavity (531), the rust removing head (53) is provided with a water inlet (532) and a water outlet (533), the water inlet (532) is communicated with the spray gun (56), and the water outlet (533) is communicated with the accommodating cavity (531).
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CN201920370912.6U CN209774631U (en) | 2019-03-22 | 2019-03-22 | Special intelligent robot for repairing dock block position in ship repairing and building |
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CN201920370912.6U CN209774631U (en) | 2019-03-22 | 2019-03-22 | Special intelligent robot for repairing dock block position in ship repairing and building |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109807854A (en) * | 2019-03-22 | 2019-05-28 | 舟山万邦永跃船舶修造有限公司 | Ship Building and Repairing dock repair docking block position-specific intelligent robot |
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2019
- 2019-03-22 CN CN201920370912.6U patent/CN209774631U/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109807854A (en) * | 2019-03-22 | 2019-05-28 | 舟山万邦永跃船舶修造有限公司 | Ship Building and Repairing dock repair docking block position-specific intelligent robot |
CN109807854B (en) * | 2019-03-22 | 2023-09-05 | 万邦船舶重工(舟山)有限公司 | Special intelligent robot for repairing and manufacturing dock blocks of ship |
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GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address |
Address after: 316100 Mazhi Island, Shenjiamen, Putuo District, Zhoushan City, Zhejiang Province Patentee after: Wanbang shipbuilding (Zhoushan) Co.,Ltd. Address before: 316100 No.28, Mazhi West Road, Shenjiamen, Putuo District, Zhoushan City, Zhejiang Province Patentee before: ZHOUSHAN IMC-YONGYUE SHIPYARD & ENGINEERING Co.,Ltd. |
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CP03 | Change of name, title or address |