CN109050822A - The flexible underwater climbing robot of magnetic suck - Google Patents
The flexible underwater climbing robot of magnetic suck Download PDFInfo
- Publication number
- CN109050822A CN109050822A CN201810847136.4A CN201810847136A CN109050822A CN 109050822 A CN109050822 A CN 109050822A CN 201810847136 A CN201810847136 A CN 201810847136A CN 109050822 A CN109050822 A CN 109050822A
- Authority
- CN
- China
- Prior art keywords
- elevating lever
- magnetic
- underwater
- climbing robot
- lift bar
- 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.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 20
- 230000003028 elevating effect Effects 0.000 claims abstract description 45
- 238000010521 absorption reaction Methods 0.000 claims abstract description 12
- 229910001220 stainless steel Inorganic materials 0.000 claims abstract description 6
- 239000010935 stainless steel Substances 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 10
- 230000017525 heat dissipation Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 238000001816 cooling Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000004140 cleaning Methods 0.000 abstract description 9
- 239000013535 sea water Substances 0.000 description 4
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of underwater climbing robots of flexible magnetic suck, including two phase stainless steel body, flexible magnetic suck crawler unit and magnetic compensation device, magnetic compensation device is respectively equipped with before and after body, magnetic compensation device includes lifting support, universal wheel and magnetic patch, lifting support includes lifter plate, left elevating lever, intermediate lift bar and right elevating lever, left elevating lever, the middle part of intermediate lift bar and right elevating lever run through lifter plate and be firmly connected with it, left elevating lever, intermediate lift bar and right elevating lever are slidably mounted on body, spring is arranged on left elevating lever and right elevating lever, spring upper end peaks on body, lower spring end peaks on lifter plate, left elevating lever and right elevating lever bottom are equipped with absorption magnetic patch, intermediate lift bar bottom is equipped with universal wheel, ship be can solve in water surface uplink During sailing is carried out to marine surface attachment underwater the technical issues of removing cleaning.
Description
Technical field
The present invention relates to shipping cleaning equipment technical fields, and in particular to a kind of underwater climbing robot of flexibility magnetic suck.
Background technique
Ship every few years must carry out rust-removing paint-removing by upper dock manner and remove attachment, and existing removing marine surface is attached
Object method mainly pass through staff hold cleaning equipment be purged, there is a problem of it is seriously polluted, at high cost, separately
Outside, it is cleared up for ship water surface part below, the working depth that diver can not reach carries out the requirement of operation.Therefore
It needs to design a kind of ship cleaning equipment and realizes the washing and cleaning operation for carrying out high-efficient automatic to marine surface.
Summary of the invention
Goal of the invention of the invention is, in view of the above-mentioned problems, providing a kind of flexible magnetic suck underwater climbing robot, with solution
The technical issues of underwater cleaning is carried out to marine surface during certainly ship sails on the water.
In order to achieve the above objectives, the technical scheme adopted by the invention is that: a kind of flexibility magnetic suck underwater climbing robot,
Body, flexible magnetic suck crawler unit and magnetic compensation device including two-phase stainless steel material, the flexibility magnetic
Attached crawler unit includes servo motor and crawler belt, and the servo motor is installed in the body, the two sides of the body
It is separately installed with front vane wheel and rear blade wheel, the crawler belt is equipped between the front vane wheel and the rear blade wheel, it is described
Servo motor drives institute's crawler belt by the servo motor, and the crawler belt is equipped with flexible magnetic group, and the body is equipped with working bin,
Work head mounting base is equipped in the working bin, the front and rear sides of the body are respectively equipped with two magnetic compensation devices,
The magnetic compensation device includes lifting support, universal wheel and magnetic patch, the lifting support include lifter plate, left elevating lever,
The liter is run through at the middle part of intermediate lift bar and right elevating lever, the left elevating lever, intermediate lift bar and right elevating lever
Drop plate and be firmly connected with it, the left elevating lever, intermediate lift bar and right elevating lever are slidably mounted on the body
On, it is arranged with spring on the left elevating lever and the right elevating lever, the spring upper end peaks on the body, the bullet
Spring lower end peaks on the lifter plate, and the left elevating lever and the right elevating lever bottom are equipped with absorption magnetic patch, the centre
Elevating lever bottom is equipped with universal wheel, and the bottom surface of two absorption magnetic patch is above the wheel bottom of the universal wheel.
As an improvement mode, the lifting support further includes top plate and bottom plate, and the top plate and the bottom plate are equal
Be fixedly connected with the body, the left elevating lever, intermediate lift bar and right elevating lever be slidably mounted on the top plate and
In mounting hole on the bottom plate.
As an improvement mode, the body includes bottom case and outer cover, and the outer cover covers on the bottom case.
As an improvement mode, the front of the body is popped one's head in equipped with underwater visual.
As an improvement mode, power bin is equipped in the bottom case, the servo motor is mounted on the power bin
It is interior, cooling fin is provided at the top of the power bin, the heat dissipation side bottom is equipped with gasket.
As an improvement mode, the body be two-phase stainless steel material.
As an improvement mode, work head mounting base is equipped with high pressure cavitation spray head.
As an improvement mode, further include controller, the servo motor and the underwater visual probe connect respectively
Connect the controller.
Due to the adoption of the above technical scheme, the invention has the following advantages:
The flexible magnetic group crawler belt of the underwater climbing robot of flexible magnetic suck of the application can produce strong adsorption capacity, can offset and penetrate
The reaction force of stream guarantees the tractive force for meeting pipeline, and Extensible magnetic force compensating device is on flare inclined-plane and 1m path periphery
Absorption compensating action is played when work, solves robot when flare inclined-plane and path periphery work since flexible magnetic group is adsorbed
Area small the problem of causing adsorption capacity not enough to fall machine.The combination of Dual-Servo Motor train of reduction gears can effectively meet fortune function speed
While reduce power, which can make any direction movement in ship outer surface, can facade, face upward, inclined-plane, flare it is oblique
Face, 1m diameter extrados, intrados can be transferred through.
Since the body includes bottom case and outer cover, the outer cover is covered on the bottom case, and outer cover is curvature of the spinal column formula outer cover, can
Reduce the resistance that robot moves at deep-sea.
Since the front of the body is popped one's head in equipped with underwater visual, robot reaches the work that existing diver can not reach
Make the lasting work of big load as depth, and working face situation passed back station in real time, deep water video probe observe in real time and
It detects working face situation and is shown in operation frequency.
Due to being equipped with power bin in the bottom case, the servo motor is mounted in the power bin, the power silo roof
Portion is provided with cooling fin, and the heat dissipation side bottom is equipped with gasket, solves underwater robot from the design for the power bin that radiates and exists
Under water due between the heat dissipation for the motor that works long hours topic, the structure set from thermal conduction characteristic, in power Hatch Board by heat sink
Meter radiator makes to carry out Hot swapping with seawater inside power bin.
Since the body is two-phase stainless steel material, seawater can be placed, body is caused to corrode.
Since work head mounting base is equipped with high pressure cavitation spray head, high pressure cavitation spray head injection water carries out marine surface
Cleaning.
Due to further including controller, the servo motor and underwater visual probe are separately connected the controller, control
Device processed makes whole system realize the mutual cooperation of high pressure pump group switch, flexible magnetic patch movement absorption type underwater robot, controls automatically
It makes flexible magnetic patch and moves absorption type underwater robot motion profile.
Detailed description of the invention
Fig. 1 is the Structure explosion diagram of the underwater climbing robot of flexible magnetic suck；
Fig. 2 is the assembling figure of the underwater climbing robot of flexible magnetic suck；
In figure, 1- body, 11- outer cover, 13- power bin, 14- working bin, 15- work head mounting base, 21- front vane wheel,
22- rear blade wheel, the left elevating lever of 41-, the right elevating lever of 42-, 43- intermediate lift bar, 44- lifter plate, 45- adsorb magnetic patch, 46- ten thousand
To wheel, 47- bottom plate, 48- top plate, 49- spring, 5- cooling fin, 6- sealing ring, 7- underwater visual probe, 8- flexibility magnetic group.
Specific embodiment
As depicted in figs. 1 and 2, the underwater climbing robot of a kind of flexible magnetic suck, including body 1, flexible magnetic suck crawler belt
Running gear and magnetic compensation device.Body 1 is two-phase stainless steel material, can place seawater and cause to corrode to body 1.Body
1 includes bottom case and outer cover 11, and outer cover 11 covers on bottom case, and outer cover 11 is curvature of the spinal column formula outer cover 11, can reduce robot and transport at deep-sea
Dynamic resistance.Body 1 is equipped with working bin 14, is equipped with work head mounting base 15 in working bin 14, work head mounting base 15 is equipped with
High pressure cavitation spray head, high pressure cavitation spray head injection water clean marine surface.
Flexible magnetic suck crawler unit includes servo motor and crawler belt, and servo motor is installed in body 1, body 1
Two sides be separately installed with front vane wheel 21 and rear blade wheel 22, between front vane wheel 21 and rear blade wheel 22 be equipped with crawler belt, watch
It takes motor and institute's crawler belt is driven by servo motor, crawler belt is equipped with flexible magnetic group 8.
Power bin 13 is equipped in bottom case, servo motor is mounted in power bin 13, is provided with cooling fin at the top of power bin 13
5, heat dissipation side bottom is equipped with gasket 6, solves underwater robot under water due to for a long time from the design for the power bin 13 that radiates
Between the heat dissipation of work drive motor topic, the structure by heat sink from thermal conduction characteristic, in 13 deck design radiator of power bin, make
13 inside of power bin carries out Hot swapping with seawater.
The front and rear sides of body 1 are respectively equipped with two magnetic compensation devices, and magnetic compensation device includes lifting support, universal
Wheel 46 and magnetic patch, lifting support include lifter plate 44, left elevating lever 41, intermediate lift bar 43 and right elevating lever 42, Zuo Sheng
Drop bar 41, intermediate lift bar 43 and right elevating lever 42 middle part run through lifter plate 44 and be firmly connected with it, left lifting
Bar 41, intermediate lift bar 43 and right elevating lever 42 are slidably mounted on body 1, and lifting support further includes top plate 48 and bottom plate
47, top plate 48 is fixedly connected with body 1 with bottom plate 47, and left elevating lever 41, intermediate lift bar 43 and right elevating lever 42 are sliding
It is dynamic to be installed in the mounting hole on top plate 48 and bottom plate 47.Spring 49, bullet are arranged on left elevating lever 41 and right elevating lever 42
49 upper end of spring peaks on body 1, and 49 lower end of spring peaks on lifter plate 44, and left elevating lever 41 and 42 bottom of right elevating lever are equipped with
Magnetic patch 45 is adsorbed, 43 bottom of intermediate lift bar is equipped with universal wheel 46, and the bottom surface of two absorption magnetic patch 45 is above universal wheel 46
Wheel bottom.Guarantee that interfix wheel, scalable magnetic force block are not exposed to working face, the bottom surface of two absorption magnetic patch 45 is determined to centre
Position wheel working face stays 3mm spacing.
The front of body 1 is equipped with underwater visual probe 7, and underwater visual probe 7 is popped one's head in for radar underwater visual, and robot can
The working depth that reaching existing diver can not reach makees the lasting work of big load, and working face situation is passed back operation in real time
Platform, deep water video probe are observed and are detected in real time working face situation and show in operation frequency.
The flexible underwater climbing robot of magnetic suck further includes controller, and servo motor and underwater visual probe 7 are separately connected
Controller, controller make whole system realize that high pressure pump group switch, flexible magnetic patch move the phase interworking of absorption type underwater robot
It closes, automatically controls flexible magnetic patch and move absorption type underwater robot motion profile.
The present invention must once go up the requirement that dock removes attachment with sandblasting mode rust-removing paint-removing for ship several years, by height
Press pump group generates high pressure water, generates cavitation jet by cavitating nozzle, is rotated by cavitating nozzle swivel head and generates rotation cavitation jet,
Effectively strike area can be improved；By the underwater climbing robot of flexible motion flexibility magnetic suck with high pressure cavitation jet with the side of rotation
Formula hits marine surface, attachment is removed when not damaging paint face, ship is removed attached when sailing on the water and stop anchorage
Object do not damage lacquer painting again.
The underwater climbing robot of flexible magnetic suck of the application has the characteristics that:
One is the reduction of the number of dock on ship, improves the service efficiency of ship.
Second is that efficiently removing cleaning marine surface attachment at any time, the speed of a ship or plane is improved, reduces energy consumption.
Third is that cleaning marine surface attachment is removed in capable of navigating by water, solves the pollution to harbour bank.
Claims (7)
1. a kind of underwater climbing robot of flexibility magnetic suck, which is characterized in that body, flexible magnetic including two-phase stainless steel material
Crawler unit and magnetic compensation device are adsorbed,
The flexibility magnetic suck crawler unit includes servo motor and crawler belt, and the servo motor is installed on the body
Interior, the two sides of the body are separately installed with front vane wheel and rear blade wheel, and the front vane wheel is set to the rear blade wheel
Between the crawler belt, the servo motor drives crawler belt by train of reduction gears, and the crawler belt is equipped with flexible magnetic patch group,
The body is equipped with working bin, is equipped with work head mounting base in the working bin, the front and rear sides of the body are set respectively
There are two the magnetic compensation device, the magnetic compensation device includes lifting support, universal wheel and magnetic patch, the lifting branch
Frame includes lifter plate, left elevating lever, intermediate lift bar and right elevating lever, the left elevating lever, intermediate lift bar and right liter
Drop bar middle part run through the lifter plate and be firmly connected with it, the left elevating lever, intermediate lift bar and right lifting
Bar is slidably mounted on the body, is arranged with spring on the left elevating lever and the right elevating lever, on the spring
End peaks on the body, and the lower spring end peaks on the lifter plate, the left elevating lever and the right elevating lever bottom
It is equipped with absorption magnetic patch, intermediate lift bar bottom is equipped with universal wheel, and the bottom surface of two absorption magnetic patch is above institute
State the wheel bottom of universal wheel.
2. the underwater climbing robot of flexibility magnetic suck as described in claim 1, which is characterized in that the lifting support further includes
Top plate and bottom plate, the top plate are fixedly connected with the body with the bottom plate, the left elevating lever, intermediate lift bar and
Right elevating lever is slidably mounted in the mounting hole on the top plate and the bottom plate.
3. the underwater climbing robot of flexibility magnetic suck as described in claim 1, which is characterized in that the body include bottom case and
Outer cover, the outer cover cover on the bottom case.
4. the underwater climbing robot of flexibility magnetic suck as described in claim 1, which is characterized in that the front of the body is equipped with
Underwater visual probe.
5. the underwater climbing robot of flexibility magnetic suck as described in claim 1, which is characterized in that be equipped in the bottom case and dissipate certainly
Heat power storehouse, the servo motor are mounted in the power bin, are provided with cooling fin, the heat dissipation side at the top of the power bin
Bottom is equipped with gasket.
6. the underwater climbing robot of flexibility magnetic suck as described in claim 1, which is characterized in that work head mounting base is equipped with
High pressure cavitation spray head.
7. the underwater climbing robot of flexibility magnetic suck as described in claim 1, which is characterized in that it further include controller, it is described
Servo motor and underwater visual probe are separately connected the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847136.4A CN109050822A (en) | 2018-07-27 | 2018-07-27 | The flexible underwater climbing robot of magnetic suck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847136.4A CN109050822A (en) | 2018-07-27 | 2018-07-27 | The flexible underwater climbing robot of magnetic suck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109050822A true CN109050822A (en) | 2018-12-21 |
Family
ID=64835797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810847136.4A Pending CN109050822A (en) | 2018-07-27 | 2018-07-27 | The flexible underwater climbing robot of magnetic suck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109050822A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733570A (en) * | 2019-01-29 | 2019-05-10 | 山东大学 | A wheeled walking-propeller-propelled underwater cleaning robot |
| CN110696987A (en) * | 2019-09-11 | 2020-01-17 | 北京唯极科技有限公司 | Robot for cleaning surface of ship |
| CN110694829A (en) * | 2019-09-11 | 2020-01-17 | 北京唯极科技有限公司 | Method for repairing damage of local paint surface on surface of ship |
| US20210291289A1 (en) * | 2018-12-07 | 2021-09-23 | Beijing Bo Tsing Tech Co., Ltd | Crawling welding robot and method of controlling the same |
| CN113431986A (en) * | 2021-06-24 | 2021-09-24 | 浙江科技学院 | Intelligent inspection robot for underwater pipeline |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210291289A1 (en) * | 2018-12-07 | 2021-09-23 | Beijing Bo Tsing Tech Co., Ltd | Crawling welding robot and method of controlling the same |
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| CN110696987A (en) * | 2019-09-11 | 2020-01-17 | 北京唯极科技有限公司 | Robot for cleaning surface of ship |
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| CN113431986B (en) * | 2021-06-24 | 2022-06-17 | 浙江科技学院 | Intelligent inspection robot for underwater pipeline |
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Application publication date: 20181221 |
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