CN215205293U - Multi-tool ship maintenance robot - Google Patents
Multi-tool ship maintenance robot Download PDFInfo
- Publication number
- CN215205293U CN215205293U CN202121187089.9U CN202121187089U CN215205293U CN 215205293 U CN215205293 U CN 215205293U CN 202121187089 U CN202121187089 U CN 202121187089U CN 215205293 U CN215205293 U CN 215205293U
- Authority
- CN
- China
- Prior art keywords
- pressure
- module
- double
- tool
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The utility model provides a multiplex utensil boats and ships maintenance robot, include: the robot moving body comprises a body bracket and a working module arranged on the body bracket; the body support comprises a crawler traveling device, double-row chain wheels and an anti-overturning mechanism, wherein the crawler traveling device comprises a magnetic adsorption device and double-row chains with bent plates; the double-row chain wheel is arranged on the body bracket and is matched with the double-row chain on the crawler belt walking device to form a chain transmission mechanism; the working module comprises a cleaning module, a derusting module and a paint spraying module. The utility model discloses it is many that the applied modularization instrument solves present boats and ships maintenance tool kind, operates the problem of inconformity, raises the efficiency and the reliability.
Description
Technical Field
The utility model relates to a mechanical equipment technical field especially relates to a multiplex utensil boats and ships maintenance robot.
Background
The derusting and cleaning operation of the ship is the primary step before ship coating. Since the ship's skin is immersed in seawater for a long period of time, corrosion inevitably occurs. In order to improve the service life of the ship and increase the safety in use, when the outer plate of the ship and the paint are damaged to a certain extent, a rust removing paint treatment must be performed.
At present, robots for cleaning, derusting, painting and other maintenance of the outer surface of a ship have different structures, heavy volume and inconsistent operation, and the maintenance efficiency of the ship is influenced.
SUMMERY OF THE UTILITY MODEL
To above problem the utility model discloses a multiplex utensil boats and ships maintenance robot can switch different work modules as required and carry out different work. The utility model has the advantages of a public robot removes the body, raises the efficiency.
The utility model adopts the technical proposal that:
a multi-tool ship maintenance robot comprises a robot moving body, wherein the robot moving body comprises a body support and a working module arranged on the body support; the body support comprises a crawler traveling device, double-row chain wheels and an anti-overturning mechanism, wherein the crawler traveling device comprises a magnetic adsorption device and double-row chains with bent plates; the double-row chain wheel is arranged on the body bracket and is matched with the double-row chain on the crawler belt walking device to form a chain transmission mechanism; the working module comprises a cleaning module, a derusting module and a paint spraying module,
furthermore, the double-row chain wheel comprises a tension wheel, a plurality of driven wheels and a driving wheel, and the tension wheel is provided with a tension device for compressing and limiting.
Further, the magnetic adsorption device is arranged on a double-row chain with a bent plate.
Further, the overturn preventing mechanism comprises a support plate and an overturn wheel; the body bracket is bilaterally symmetrical about the support plate, and a main support plate and an auxiliary support plate are respectively arranged at two sides of the body bracket; the main support plate and the auxiliary support plate are connected and fixed through a plurality of fulcrum shafts; the two main supporting plates are fixedly connected by an aluminum alloy section; the aluminum alloy section is reinforced by a V-shaped aluminum alloy plate.
Furthermore, the cleaning module comprises two brush discs which are symmetrical left and right, a shearing mechanism and a fixing plate; the fixed plate is installed on the body bracket through a bolt, and the cleaning module is connected with the body bracket through the fixed plate;
the brush disc is divided into a main brush disc and an auxiliary brush disc; a plurality of brushes which are circumferentially distributed are arranged on the main brush disc and the auxiliary brush disc; the brush is connected with the brush disc through a first flexible connecting mechanism; the first flexible connecting mechanism consists of a bolt and a spring; the main brush disc and the auxiliary brush disc are driven by a chain; the main brush disc is driven by a first motor; the shearing mechanism is arranged in front of the cleaning module; the shearing mechanism comprises an upper shearing block and a lower shearing block; the upper cutting block is arranged on the cleaning module; the lower shear block and the upper shear block have limited relative displacement; the lower shear block is driven by a second motor through a slider-crank mechanism.
Further, the rust removing module includes: the high-pressure rust removal system, the vacuum recovery system and the two symmetrical second flexible connecting mechanisms are arranged on the upper surface of the vacuum recovery system;
the vacuum recovery system comprises a rust removing disc cavity, a sealing brush, a supporting universal wheel and a vacuum pipeline connecting port; the sealing brush is arranged at the bottom of the derusting module
The high-pressure rust removal system comprises: the device comprises a high-pressure rotary joint, a high-pressure water pipe, a bracket, a rotary mechanism, a five-way valve and a high-pressure spray head; the rotating mechanism consists of a motor and a gear; the five-way valve is arranged in the cavity of the rust removing disc, the middle hole of the five-way valve is connected with the high-pressure water pipe, and the other four holes are connected with a high-pressure spray head respectively; the high-pressure spray head is provided with a plurality of high-pressure spray nozzles; the high-pressure water pipe sequentially penetrates through the high-pressure rotary joint and the gear of the rotary mechanism, an external high-pressure water pipe pipeline is connected with a fixed end at the upper part of the high-pressure rotary joint, the high-pressure water pipe is fixedly connected with a rotary interface at the lower end of the high-pressure rotary joint and limited by two tapered roller bearings, and a rotary section of the high-pressure rotary joint is driven by the rotary mechanism to rotate; the high-pressure rust removal system is arranged on the rust removal disc cavity; the bracket is connected to the body bracket through a screw;
the second flexible connecting mechanism comprises a connecting bracket, a holding clamp, a guide shaft, a linear bearing, a compression spring, a limiting block and a limiting spring; the holding clamp is fixedly connected with the cavity of the rust removing disc; the linear bearing is fixedly connected with the holding clamp, and the second flexible connecting mechanism is installed on the body support through the connecting support.
Further, the paint spraying module comprises a crank rocker mechanism, a paint spraying system and an air drying system; the paint spraying module is arranged on the overturn preventing mechanism;
the paint spraying system comprises a high-atomization spray head, a high-pressure air pipeline and a paint pipeline; the high atomization nozzle is arranged at the tail end of the crank rocker mechanism; the high-pressure air pipeline and the coating pipeline are respectively connected to the corresponding joints; the air drying system is arranged in front of the high atomizing spray head.
Advantageous effects
1. The modularized multi-tool wall-climbing robot combines cleaning, derusting and paint spraying and is applied to ship maintenance.
2. The handling of different work tasks can be switched and combined.
3. The same mobile body is applied, unified operation is achieved, and efficiency is improved.
Based on the utility model discloses a multi-tool ship maintenance robot can utilize the robot moving module to respectively carry cleaning, derusting and paint spraying modules to carry out cleaning, derusting and paint spraying operations; the robot moving body has certain obstacle crossing capability while utilizing strong adsorption force of crawler walking.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 shows three operation modes of the multi-tool ship maintenance robot of the present invention.
Fig. 2 is a schematic structural view of the crawler belt unit.
Fig. 3 is a structural diagram of a mobile body support of the robot.
Fig. 4 is a schematic structural view of a cleaning module.
FIG. 5 is a schematic structural diagram of a derusting module.
Fig. 6 is a schematic view of a painting module configuration.
Detailed Description
The invention will be further described with reference to the following embodiments and drawings:
in the embodiment, as shown in fig. 1, the multi-tool ship maintenance robot is designed in a modularized manner, and comprises a robot moving body 1, wherein the robot moving body 1 comprises a body support 15 and working modules installed on the body support 15, the working modules comprise a cleaning module 2, a rust removing module 3 and a paint spraying module 4, and the robot moving body 1 can be assembled and combined with the cleaning module 2, the rust removing module 3 and the paint spraying module 4 respectively to complete cleaning operation, rust removing operation and paint spraying operation respectively; the rust removal module 3 and the paint spraying module 4 can be matched at the same time to perform rust removal and paint spraying operation.
In the embodiment that the body support 15 comprises a crawler traveling device, a double-row chain wheel 13 and an anti-overturning mechanism 16, as shown in fig. 2, the crawler traveling device comprises a magnetic adsorption device 12 and a double-row chain 14 with a bent plate; the magnetic adsorption device 12 is arranged on a double-row chain 14 with a bent plate; the double-row chain wheel 13 is arranged on the body bracket 15 and is matched with a double-row chain 14 on the crawler belt walking device to form a chain transmission mechanism; the magnetic adsorption device 12 is used for adsorbing a working surface, so that the crawler walking device can drive the body support 15 and the working module to crawl along the working surface; the double-row chain wheel 13 comprises a tension wheel 131, a plurality of driven wheels 132 and a driving wheel 133, and the tension wheel 131 is pressed and limited by a tension device.
In an embodiment, as shown in fig. 3, a body support 15. The anti-overturn structure 16 is composed of an anti-overturn wheel bracket 161 and an anti-overturn wheel 162. The body bracket 15 is bilaterally symmetrical about a support plate 161, a main support plate 151 and an auxiliary support plate 152 are respectively arranged at two sides, and the main support plate 151 and the auxiliary support plate 152 are fixedly connected by a plurality of support shafts 153; the two main support plates 151 which are symmetrically distributed are fixedly connected by an aluminum alloy section bar 154; the aluminum alloy profile 154 is reinforced with a V-shaped aluminum alloy plate 155.
In the embodiment shown in fig. 4, the cleaning module 2 is provided. The cleaning module 2 is bilaterally symmetrical and comprises two bilaterally symmetrical brush discs, a shearing mechanism 22 and a fixing plate 23; the brush disc 21 consists of a main brush disc 211 and an auxiliary brush disc 212; the brush discs are respectively provided with a plurality of brushes 213 which are distributed in a circumferential manner; the connection between the brush 213 and the brush disc 21 is a first flexible connection mechanism 214; the first flexible connection mechanism 214 is composed of a shaft and a spring; the main brush disc 211 is in transmission connection with the auxiliary brush disc 212 through a chain 215; the shearing mechanism 22 is composed of an upper shearing block 221, a lower shearing block 222, a shearing motor 223 and a slider-crank mechanism 224. The upper cutout 221 is fixedly attached to the body of the cleaning module. There is limited relative displacement of the lower cutout 222 and the upper cutout 221; the limited relative displacement of the lower shear block 222 is carried by a slider-crank mechanism 224. The fixed plate 23 is mounted on the body support 15 through bolts, and the cleaning module 2 is connected with the body support 15 through the fixed plate 23, so that the robot body support 15 can carry the cleaning module 2 to complete a cleaning task.
In the embodiment, as shown in fig. 5, a derusting module 3 is provided. The derusting module 3 comprises a high-pressure derusting system 31, a vacuum recovery system 32 and two symmetrical second flexible connecting mechanisms 33.
The vacuum recovery system 32 comprises a rust removing disc cavity 321, a sealing brush 322, a plurality of universal supporting wheels 323 and a vacuum pipeline connecting port 324. During the working process, the vacuum pipeline is connected with the positive empty pipeline connecting port 324 and continuously sucks dirt, old paint coats, iron rust and air in the cavity 321 of the derusting disc, and the dirt is removed and dried to generate negative pressure adsorption force. The sealing brush 322 at the bottom of the derusting module 2 is used for sealing, and the friction loss of the sealing brush 322 is reduced by using the universal supporting wheel 323.
The high-pressure rust removal system 31 includes: a high-pressure rotary joint 311, a high-pressure water pipe 312, a bracket 313, a rotary mechanism 314, a five-way valve 315 and a high-pressure spray head 316; the rotating mechanism 314 is composed of a motor and a gear; the five-way valve 315 is arranged in the rust removing disc cavity 321, the middle hole of the five-way valve 315 is connected with the high-pressure water pipe 312, and the other four holes are connected with a high-pressure spray head 316; the high-pressure spray head 316 is provided with a plurality of high-pressure spray nozzles; the high pressure water pipe 312 sequentially penetrates through the high pressure rotary joint 311 and the gear of the rotary mechanism 314. During the working process, the pipeline of the external high-pressure water pipe 312 is connected with the fixed end at the upper part of the high-pressure rotary joint 311, the rotary section of the high-pressure rotary joint 311 is driven by the rotary mechanism 314 to rotate, and high-pressure water flows to the high-pressure spray head 316 through the high-pressure rotary joint 311, the high-pressure water pipe 312 and the five-way valve 315; the high pressure nozzle 316 is provided with a plurality of nozzles through which high pressure water is sprayed. The high-pressure water pipe 312 is fixedly connected with a rotary interface at the lower end of the high-pressure rotary joint 311 and limited by two tapered roller bearings.
The second flexible connecting mechanism 33 includes a connecting bracket 331, a clasping tool 332, a guide shaft 333, a linear bearing 334, a compression spring 335, a limiting block 336 and a limiting spring 337. The holding clamp 332 is fixedly connected with the rust removing disc cavity 321. The linear bearing 334 is fixedly connected with the clasping clamp 332. The second flexible connecting mechanism 33 is mounted on the body frame 15 through a connecting frame 331. The robot body support 15 carries the rust removal module 3 to complete the task of rust removal.
In an embodiment, as shown in fig. 6, the painting module 4 includes a crank and rocker mechanism 41, a painting system 42, and an air drying system 43. The painting system 42 is composed of a high atomization nozzle 421, a high pressure air pipe 422 and a paint pipe 423. The high atomization nozzle 421 is installed at the tail end of the crank rocker mechanism 41 and used for spraying paint; the high atomization nozzle 421 has three joints, and the high pressure air pipeline 422 and the coating pipeline 423 are respectively connected to the corresponding joints; the air drying system 43 is installed in front of the painting system 42 and used for descaling and air drying before painting. The paint spray module has partially identical parts to the anti-tip device 16. The anti-overturning device 16 can be replaced by a painting module 4 during painting operation.
Claims (7)
1. A multi-tool ship maintenance robot comprises a robot moving body (1), wherein the robot moving body (1) comprises a body support (15) and a working module arranged on the body support (15); it is characterized in that the preparation method is characterized in that,
the body support (15) comprises a crawler walking device, a double-row chain wheel (13) and an anti-overturning mechanism (16), wherein the crawler walking device comprises a magnetic adsorption device (12) and a double-row chain (14) with a bent plate; the double-row chain wheel (13) is arranged on the body bracket (15) and is matched with a double-row chain (14) on the crawler belt walking device to form a chain transmission mechanism; the working module comprises a cleaning module (2), a derusting module (3) and a paint spraying module (4).
2. The multi-tool marine service robot of claim 1, wherein: the double-row chain wheel (13) comprises a tension wheel (131), a plurality of driven wheels (132) and a driving wheel (133), and the tension wheel (131) is pressed and limited by a tension device.
3. The multi-tool marine service robot of claim 1, wherein: the magnetic adsorption device (12) is arranged on a double-row chain (14) with a bent plate.
4. The multi-tool marine service robot of claim 1, wherein: the overturn prevention mechanism (16) comprises a support plate (161) and an overturn wheel (162); the body bracket (15) is symmetrical left and right relative to the support plate (161), and a main support plate (151) and an auxiliary support plate (152) are respectively arranged at two sides; the main support plate (151) and the auxiliary support plate (152) are fixedly connected through a plurality of support shafts (153); the two main support plates (151) are fixedly connected by an aluminum alloy section bar (154); the aluminum alloy profile (154) is reinforced by a V-shaped aluminum alloy plate (155).
5. The multi-tool marine service robot of claim 1, wherein: the cleaning module (2) comprises two brush discs which are symmetrical left and right, a shearing mechanism (22) and a fixing plate (23); the fixed plate (23) is mounted on the body support (15) through a bolt, and the cleaning module (2) is connected with the body support (15) through the fixed plate (23);
the brush disc is divided into a main brush disc (211) and an auxiliary brush disc (212); a plurality of brushes (213) which are distributed circumferentially are arranged on the main brush disc (211) and the auxiliary brush disc (212); the brush (213) is connected with the brush disc through a first flexible connecting mechanism (214); the first flexible connecting mechanism (214) consists of a bolt and a spring; the main brush disc (211) and the auxiliary brush disc (212) are driven by a chain (215); the main brush disc (211) is driven (216) by a first motor; the shearing mechanism (22) is arranged in front of the cleaning module (2); the shearing mechanism (22) consists of an upper shearing block (221) and a lower shearing block (222); the upper shear block (221) is mounted on the cleaning module; the lower shear block (222) and the upper shear block (221) have limited relative displacement; the lower shear block (222) is driven by a second motor (223) through a crank-slider mechanism (224).
6. The multi-tool marine service robot of claim 1, wherein: the rust removal module (3) comprises: the high-pressure rust removal system (31), the vacuum recovery system (32) and two symmetrical second flexible connecting mechanisms (33);
the vacuum recovery system (32) comprises a rust removing disc cavity (321), a sealing hairbrush (322), a supporting universal wheel (323) and a vacuum pipeline connecting port (324), wherein the sealing hairbrush (322) is arranged at the bottom of the rust removing module (3);
the high-pressure rust removal system (31) includes: the device comprises a high-pressure rotary joint (311), a high-pressure water pipe (312), a bracket (313), a rotary mechanism (314), a five-way valve (315) and a high-pressure spray head (316); the rotating mechanism (314) consists of a motor and a gear; the five-way valve (315) is arranged in the rust removing disc cavity (321), the middle hole of the five-way valve (315) is connected with the high-pressure water pipe (312), and the rest four holes are connected with a high-pressure spray head (316) respectively; a plurality of high-pressure nozzles are arranged on the high-pressure spray head (316); the high-pressure water pipe (312) sequentially penetrates through the high-pressure rotary joint (311) and the gear of the rotating mechanism (314), the pipeline of the external high-pressure water pipe (312) is connected with the fixed end at the upper part of the high-pressure rotary joint (311), the high-pressure water pipe (312) is fixedly connected with a rotating interface at the lower end of the high-pressure rotary joint (311) and limited by two tapered roller bearings, and the rotating section of the high-pressure rotary joint (311) is driven to rotate by the rotating mechanism (314); the high-pressure rust removal system (31) is arranged on the rust removal disc cavity (321); the bracket (313) is connected to the body bracket (15) through a screw;
the second flexible connecting mechanism (33) comprises a connecting support (331), a clamp (332), a guide shaft (333), a linear bearing (334), a compression spring (335), a limiting block (336) and a limiting spring (337); the holding clamp (332) is fixedly connected with the rust removing disc cavity (321); the linear bearing (334) is fixedly connected with the holding clamp (332), and the second flexible connecting mechanism (33) is installed on the body support (15) through a connecting support (331).
7. The multi-tool marine service robot of claim 1, wherein: the paint spraying module (4) comprises a crank rocker mechanism (41), a paint spraying system (42) and an air drying system (43); the paint spraying module (4) is arranged on the overturn preventing mechanism (16);
the paint spraying system (42) comprises a high-atomization spray head (421), a high-pressure air pipeline (422) and a paint pipeline (423); the high atomization nozzle (421) is arranged at the tail end of the crank rocker mechanism (41); the high-atomization nozzle (421) is provided with three joints, and the high-pressure air pipeline (422) and the coating pipeline (423) are respectively connected to the corresponding joints; the air drying system (43) is arranged in front of the high atomizing spray head (421).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121187089.9U CN215205293U (en) | 2021-05-31 | 2021-05-31 | Multi-tool ship maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121187089.9U CN215205293U (en) | 2021-05-31 | 2021-05-31 | Multi-tool ship maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215205293U true CN215205293U (en) | 2021-12-17 |
Family
ID=79421899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121187089.9U Active CN215205293U (en) | 2021-05-31 | 2021-05-31 | Multi-tool ship maintenance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215205293U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735162A (en) * | 2022-04-13 | 2022-07-12 | 滨州学院 | Automatic ship bottom surface repairing method |
-
2021
- 2021-05-31 CN CN202121187089.9U patent/CN215205293U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735162A (en) * | 2022-04-13 | 2022-07-12 | 滨州学院 | Automatic ship bottom surface repairing method |
| CN114735162B (en) * | 2022-04-13 | 2023-07-25 | 滨州学院 | Automatic repairing method for bottom surface of ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100551556C (en) | Pipeline external wall cleaning machine | |
| CN215205293U (en) | Multi-tool ship maintenance robot | |
| CN113148051A (en) | Multi-tool ship maintenance robot | |
| CN109466724A (en) | A kind of underwater climbing robot removed for ship attachment | |
| CN114834606A (en) | Wall-climbing cleaning robot | |
| CN213612240U (en) | Municipal drainage pipeline spraying construction trolley | |
| KR101060011B1 (en) | Blasting device | |
| CN211517081U (en) | Tubular part surface rust cleaning device | |
| CN206202627U (en) | Hull cleans monitoring underwater robot running gear with water | |
| CN109807854B (en) | Special intelligent robot for repairing and manufacturing dock blocks of ship | |
| CN112478078A (en) | Novel boats and ships rust cleaning robot | |
| CN103934246A (en) | Manipulator used for removing rust on inner walls of metal cylinders | |
| CN215588857U (en) | Optimized rust removal polishing actuating mechanism | |
| CN115246026A (en) | Intelligent ship rust removal robot and using method thereof | |
| CN216637919U (en) | A quick belt cleaning device of scraper blade for scraping trigger | |
| CN214993452U (en) | Special glue removing vehicle for runway pavement of airport | |
| CN208555250U (en) | A kind of crane runway cleaning device | |
| CN210912811U (en) | Automatic movable underwater cavitation cleaning disc | |
| CN101664898B (en) | Polishing pretreatment system for inner walls of steel drums | |
| CN114954717A (en) | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot | |
| CN212143790U (en) | High-pressure water pipeline cleaning robot | |
| CN208880527U (en) | Afterwards plus sand blasting rifle swivel head | |
| JPH0889909A (en) | Cleaning robot for underwater columnar structure | |
| CN216424613U (en) | Magnetic adsorption wall-climbing robot | |
| CN212828975U (en) | Boats and ships deck is pitched wall belt cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |