CN104959258B - Climbing robot device - Google Patents
Climbing robot device Download PDFInfo
- Publication number
- CN104959258B CN104959258B CN201410418964.8A CN201410418964A CN104959258B CN 104959258 B CN104959258 B CN 104959258B CN 201410418964 A CN201410418964 A CN 201410418964A CN 104959258 B CN104959258 B CN 104959258B
- Authority
- CN
- China
- Prior art keywords
- mounting plate
- framework
- adjustable mounting
- marine surface
- round floor
- 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
Landscapes
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
Climbing robot device provided by the invention is connected with spray painting pipe for carrying out application to marine surface, which is characterized in that including：Absorbing unit, for being adsorbed on marine surface；Framework, including：Fit the round floor connecting and the top layer face far from marine surface with absorbing unit；Absorbing unit is adsorbed on marine surface, is arranged on round floor；A plurality of driving wheel walking mechanisms, setting on round floor, including：The driving wheel moved on marine surface；Support wheel is connected to the same side of absorbing unit, support frame with round floor；And applying mechanism, it is arranged on the top layer face of framework, including：The adjustable mounting plate on the outside of framework is stretched out in one end, and cylinder is respectively connected with the another side of adjustable mounting plate and top layer face, parallel with cylinder that the guide rail being connected with adjustable mounting plate is arranged, and stretches out the automatic spray gun that framework one end is connected with adjustable mounting plate.
Description
Technical field
The present invention relates to a kind of robot device, more particularly to it is a kind of be adsorbed on that marine surface carries out automatic coating climb wall
Robot device.
Background technology
Vessel coating is the important step and key link of shipbuilding.In use, hull is in ship for a long time
Badly corrode in bad border, the erosion of seawater can make hull corrosion, accelerate the damage of ship.Vessel coating can not only change ship
Appearance, can also stop erosion of the seawater to ship, postpone the service life of ship.
In China, most painting operations are all to be carried out by application worker, and harmful substance is dense in the air of operation field
Spend quite high, to application, worker is very harmful.
Climbing robot device be mainly used on steep slope checked, detected, derusting by sandblasting, the work such as rescue.
Currently, the domestic climbing robot device not yet developed for marine surface application.
Invention content
The present invention is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide one kind can be adsorbed on marine surface
Climbing robot device upper, that automatic coating is carried out to marine surface.
Climbing robot device provided by the invention is connected with spray painting pipe for carrying out application to marine surface, special
Sign is, including：Framework, including：The top layer face of round floor and separate marine surface；Absorbing unit is adsorbed on marine surface, if
It sets on the centre position of round floor, fits with round floor；A plurality of driving wheel walking mechanisms are arranged on round floor, packet
Contain：The driving wheel moved on marine surface；Support wheel is connected to the same side of absorbing unit, support frame with round floor
Body；And applying mechanism, it is arranged on the top layer face of framework, wherein applying mechanism, including：Frame is stretched out in adjustable mounting plate, one end
External side；Cylinder is respectively connected with the another side of adjustable mounting plate and top layer face；Guide rail, it is parallel with cylinder setting with
Adjustable mounting plate is connected；Automatic spray gun stretches out framework one end with adjustable mounting plate and is connected；And rotary joint, for preventing
Only the rotary joint of spray painting pipe winding framework, rotary joint have：At the top of connector, it is connect with spray painting pipe turn；And connector bottom
Portion, mutually fixation be connected to adjustable mounting plate, and spray painting pipe is pierced by from connector bottom at the top of the connector, around adjustable mounting plate and
Automatic spray gun is connected, and due to the gravity rotation of spray painting pipe at the top of connector, keeps spray painting pipe downward always.
Climbing robot device provided by the invention, also has the feature that：Wherein, applying mechanism also includes：It opens up
The mounting bracket for having regulating tank is respectively connected with automatic spray gun and adjustable mounting plate, and automatic spray gun is arranged in regulating tank, is used
In adjusting the distance between automatic spray gun and marine surface.
Invention effect and effect
According to climbing robot device involved in the present invention, it is adsorbed on marine surface, drives speed reducer to make master using motor
Driving wheel rolls, and to drive climbing robot device to move and turn on marine surface, so that adjustable mounting plate is existed by cylinder
Round-trip activity on guide rail drives automatic spray gun round-trip activity together.Therefore, climbing robot device of the invention realizes automatically
Application, the labor intensity for reducing worker avoid painting the harm to worker, improve working range and coating efficiency.
Description of the drawings
Fig. 1 is the present invention looks up structural representation of the climbing robot device of the present invention in embodiment；And
Fig. 2 is the overlooking structure diagram of the climbing robot device of the present invention in embodiment.
Specific implementation mode
It reality and applies example referring to the drawings climbing robot device according to the present invention is explained in detail.
Embodiment
Fig. 1 is the present invention looks up structural representation of the climbing robot device of the present invention in embodiment.
Fig. 2 is the overlooking structure diagram of the climbing robot device of the present invention in embodiment.
As depicted in figs. 1 and 2, climbing robot device 100 has 20, two absorbing unit 10, framework driving wheel walkings
Mechanism 30 and support wheel 40.
Absorbing unit 10 uses permanent magnetic suck, for being adsorbed on marine surface.
Framework 20 is in flat, including：Round floor 21 and top layer face 22.
Round floor 21 is connected close to marine surface, middle part with absorbing unit 10.Top layer face 22 is far from marine surface.
Two driving wheel walking mechanisms 30 are adjacent with absorbing unit 10 respectively, are symmetricly set on round floor 21, including：It is main
Not shown motor in not shown speed reducer and figure in driving wheel 31, figure.
The both sides outer in framework 20 are arranged in driving wheel 31, can be rolled in marine surface.Motor will using servo motor
Power transmission is connected to speed reducer, driving wheel 31 with speed reducer, drives driving wheel rotation by the rotation of speed reducer, makes to climb wall
Robot device 100 can move in marine surface.
Support wheel 40 is used to support framework 20, is arranged on round floor 21, adjacent with absorbing unit 10 and driven with two
Take turns the opposite side of walking mechanism 30.The magnetic adsorbability that absorbing unit 10 generates makes two driving wheel walking mechanisms 30 and support wheel
40 press marine surface, to which the frictional force generated overcomes the dead weight of climbing robot device 100 so that climbing robot device
100 can firmly be adsorbed on marine surface.The power that two driving wheel walking mechanisms 30 generate drives climbing robot device
100 move in marine surface.
Climbing robot device 100 in this example is connected with spray painting pipe 60 for carrying out application, tool to marine surface
There is applying mechanism 50.
The setting of applying mechanism 50 is in top layer face 22, for carrying out application to marine surface, including：Adjustable mounting plate 51, gas
Cylinder 52, track 53, mounting bracket 54, automatic spray gun 55 and rotary joint 56.
Adjustable mounting plate 51 is arranged on top layer face 22, and the side where one end to two driving wheel walking mechanisms 30 is stretched out
20 outside of framework.Cylinder 52 uses no bar cylinder, is arranged between adjustable mounting plate 51 and top layer face 22, and in top layer face 22
Portion and adjustable mounting plate 51 are respectively connected with along the axial direction of driving wheel 31, for driving adjustable mounting plate 51 to move back and forth
It is dynamic.Track 53 is arranged between adjustable mounting plate 51 and top layer face 22, is mutually slidably connected with one end far from adjustable mounting plate 51
And be connected with top layer portion 22, it is more smooth when moving back and forth for adjustable mounting plate 51.Mounting bracket 54 offers regulating tank
54a, be connected to vertically adjustable mounting plate 51 stretch out framework 22 outside one end, the nozzle of automatic spray gun 55 towards round floor 21, if
Set in regulating tank 54a, automatic spray gun 55 can move in regulating tank 54a, to adjust automatic spray gun and marine surface it
Between distance.
Rotary joint 56 is cylinder, for preventing spray painting pipe 60 from winding framework 20, including：56a and connector at the top of connector
Bottom 56b.
56a can be rotated at the top of connector, and connector bottom 56b is connected with adjustable mounting plate 51, and with adjustable mounting plate 51
It is connected, spray painting pipe 60 passes through 56a at the top of connector, and from connector bottom, 56b is pierced by, around adjustable mounting plate 51 and automatic spray gun 55
It is connected, when climbing robot device 100 turns to movement, gravity of the 51a due to the pipe 60 that paints at the top of rotation adapter coupling
Rotation makes spray painting pipe 66 downwards, avoid winding framework 20 always.
The effect of embodiment
According to climbing robot device involved by the present embodiment, it is adsorbed on marine surface, drives speed reducer to make using motor
Driving wheel rolls, and to drive climbing robot device to move and slow down on marine surface, makes adjustable mounting plate by cylinder
The round-trip activity on guide rail drives automatic spray gun round-trip activity together.Therefore, climbing robot device of the invention realizes certainly
Dynamic application, avoids painting the harm to worker the labor intensity for reducing worker, improves working range and coating efficiency.
Climbing robot device involved by the present embodiment can be turned to due to having rotary joint in spraying process
Spray painting pipe winding framework is avoided when mobile.
Climbing robot device involved by the present embodiment, due to mounting bracket, can automatically be sprayed by adjusting
The distance between position change nozzle and marine surface of rifle.
The above embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (2)
1. a kind of climbing robot device is connected with spray painting pipe for carrying out application to marine surface, which is characterized in that packet
It includes：
Framework, including：The top layer face of round floor and the separate marine surface；
Absorbing unit is adsorbed on the marine surface, is arranged on the centre position of the round floor, is affixed with the round floor
It closes；
A plurality of driving wheel walking mechanisms are arranged on the round floor, including：The active moved on the marine surface
Wheel；
Support wheel is connected to the same side of the absorbing unit with the round floor, supports the framework；And
Applying mechanism is arranged on the top layer face of the framework,
Wherein, the applying mechanism, including：
Adjustable mounting plate, one end are stretched out on the outside of the framework；
Cylinder is respectively connected with the another side of the adjustable mounting plate and the top layer face；
Guide rail, setting parallel with the cylinder are connected with the adjustable mounting plate；
Automatic spray gun stretches out described framework one end with the adjustable mounting plate and is connected；And
Rotary joint, for preventing the spray painting pipe from winding the rotary joint of the framework,
The rotary joint, has：
At the top of connector, it is connect with the spray painting pipe turn；And
Connector bottom, mutually fixation is connected to the adjustable mounting plate,
The spray painting pipe is pierced by from the connector bottom at the top of the connector, around the adjustable mounting plate with it is described from
Dynamic spray gun is connected,
Due to the gravity rotation of the spray painting pipe at the top of the connector, keep the spray painting pipe downward always.
2. climbing robot device according to claim 1, it is characterised in that：
Wherein, the applying mechanism also includes：The mounting bracket for offering regulating tank, with the automatic spray gun and the adjustable peace
Loading board is respectively connected with,
The automatic spray gun is arranged in the regulating tank, for adjust between the automatic spray gun and the marine surface away from
From.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410418964.8A CN104959258B (en) | 2014-08-22 | 2014-08-22 | Climbing robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410418964.8A CN104959258B (en) | 2014-08-22 | 2014-08-22 | Climbing robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104959258A CN104959258A (en) | 2015-10-07 |
| CN104959258B true CN104959258B (en) | 2018-10-26 |
Family
ID=54213440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410418964.8A Active CN104959258B (en) | 2014-08-22 | 2014-08-22 | Climbing robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104959258B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106345645B (en) * | 2016-11-15 | 2018-09-04 | 大连理工大学 | Ship plank Pa Bituotu formulas robot and its operational method |
| CN106378274B (en) * | 2016-11-15 | 2018-08-14 | 大连理工大学 | Feed and coating cloud the recycling protective cover system and its operational method of ship plank Tuo Tu formulas robot |
| CN111515053A (en) * | 2020-04-21 | 2020-08-11 | 江苏中矿大正表面工程技术有限公司 | A automation equipment that is used for anticorrosive application of bridge tunnel large surface |
| CN114054262A (en) * | 2021-11-23 | 2022-02-18 | 陈洪 | Thick type fire retardant coating machine |
| CN115487993A (en) * | 2022-09-28 | 2022-12-20 | 上海赛威德机器人有限公司 | Wall-climbing roller coating robot |
| CN117601981A (en) * | 2023-12-22 | 2024-02-27 | 武汉万曦智能科技有限公司 | Wall climbing robot and displacement method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201849550U (en) * | 2010-09-29 | 2011-06-01 | 九江精密测试技术研究所 | Composite adsorption wall-crawling mechanism for underwater ship body |
| CN202481175U (en) * | 2012-03-09 | 2012-10-10 | 刘乔祎 | Magnetic-absorbing type blackboard cleaning wall-climbing robot |
| CN102901772A (en) * | 2012-06-12 | 2013-01-30 | 过宾 | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2193628Y (en) * | 1994-04-28 | 1995-03-29 | 肖添荣 | Rotary joint for telephone transmitter |
| JPH1024875A (en) * | 1996-07-11 | 1998-01-27 | Nippon Kensetsu Kikaika Kyokai | Traveling device of wall face running robot |
| CN2829153Y (en) * | 2005-08-18 | 2006-10-18 | 郑东兴 | Rotary connector |
| CN100503342C (en) * | 2007-09-29 | 2009-06-24 | 华中科技大学 | Wheeled type permanent magnetism adsorption pipeline creeping robot |
| KR20110067070A (en) * | 2009-12-13 | 2011-06-21 | 신윤항 | Sticking robot on large ship's external-wall |
| CN202856247U (en) * | 2012-09-03 | 2013-04-03 | 国家电网公司 | Connector capable of preventing lead winding |
| CN204107745U (en) * | 2014-08-22 | 2015-01-21 | 中科新松有限公司 | Climb wall paint robot |
-
2014
- 2014-08-22 CN CN201410418964.8A patent/CN104959258B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201849550U (en) * | 2010-09-29 | 2011-06-01 | 九江精密测试技术研究所 | Composite adsorption wall-crawling mechanism for underwater ship body |
| CN202481175U (en) * | 2012-03-09 | 2012-10-10 | 刘乔祎 | Magnetic-absorbing type blackboard cleaning wall-climbing robot |
| CN102901772A (en) * | 2012-06-12 | 2013-01-30 | 过宾 | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104959258A (en) | 2015-10-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104959258B (en) | Climbing robot device | |
| CN204107745U (en) | Climb wall paint robot | |
| CN108942897B (en) | Parallel spraying robot with rope traction on outer surface of ship body | |
| KR101456847B1 (en) | System for Painting Tower Pipe Outer Surface | |
| CN106807569B (en) | Stable wall-climbing paint spraying robot | |
| CN104668131A (en) | Guide post type sucking disc wall-climbing spraying robot | |
| CN107552297A (en) | A kind of paint spray booth | |
| CN106608305A (en) | Double-foot wall-climbing robot | |
| CN217156422U (en) | Ultrasonic flaw detection climbing trolley | |
| CN209648471U (en) | Compact pipeline sand blasting unit | |
| CN104511387B (en) | Hull surface automatic spraying equipment | |
| CN108082319A (en) | The flexible adaptive wall-surface mobile robot of magnetic adsorption type | |
| CN204160334U (en) | The automatic shot-blast apparatus of a kind of hull outer wall weld seam | |
| CN203333256U (en) | Lift trolley for marine coating | |
| CN205816051U (en) | A kind of environment-friendly type is suitable for the paint spraying apparatus of large-sized object | |
| JP2019118875A (en) | Painting device and painting method | |
| CN107051779A (en) | The spray painting wall climbing vehicle device and method of work that need not be turned around suitable for ship hull surface | |
| CN207641731U (en) | A kind of plastic cement paint spraying tooling | |
| KR101915026B1 (en) | Spraying apparatus | |
| CN107899825B (en) | A kind of elevator manufacture plate paint spraying apparatus | |
| CN102259080A (en) | Mechanical spray-coating method for large annular part | |
| CN211678451U (en) | Double-deck jar spraying equipment | |
| CN211436774U (en) | Reversible spraying device for steel plate processing | |
| CN205660667U (en) | Overturning device | |
| CN208643098U (en) | Coating equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |