Climbing guide mechanism of a vehicle-ship system for ship plate work

Abstract

The application discloses a wall-climbing guiding mechanism of a vehicle-ship system for ship plate operation, which comprises a ship body to be operated and a vehicle-carrying ship carrying a wall-climbing operation vehicle, the ship body to be operated has an inclined ship plate, the vehicle-carrying ship is provided with a wall-connection guiding element capable of connecting the ship plate, and the wall-climbing operation vehicle can climb to the ship plate along the wall-connection guiding element; the wall-connection guiding element is hingedly installed on the vehicle-carrying ship, and the wall-connection guiding element has a tendency to rotate to be close to the ship plate during the process that the vehicle-carrying ship approaches the ship body to be operated; the vehicle-carrying ship is provided with a vehicle storage mechanism for storing the wall-climbing operation vehicle, the vehicle storage mechanism is connected with the wall-connection guiding element at an outlet end, and the wall-connection guiding element can be rotatably connected with the outlet end in a smooth transition mode; the end of the wall-connection guiding element extends out of the vehicle-carrying ship, and the end of the wall-connection guiding element contacts the ship plate before the vehicle-carrying ship contacts the ship plate during the process that the vehicle-carrying ship approaches the ship body to be operated. The wall-climbing operation vehicle can be guided to climb to the ship plate with different inclination angles.

Description

Technical Field

[0001] This invention relates to the field of ship wall cleaning technology, and in particular to a ship-vehicle wall-climbing guidance mechanism for ship hull cleaning operations. Background Technology

[0002] Rust and debris removal from ship hulls is a crucial part of ship maintenance, currently primarily done manually. However, ship hull cleaning robots have also emerged. When using a wall-climbing cleaning robot, a transport vessel is needed to move the robot to one side of the hull to be cleaned. The robot then climbs from the transport vessel onto the outer plating of the hull. Most existing ships have a conical cross-section, and their outer plating is mostly inclined, with varying angles between different vessels. Therefore, using a method as shown in the attached diagram... Figure 5 As shown, the climbing guide plate 10 has a large inclination angle with the ship's outer plating 4, making it difficult for the climbing cleaning robot 13 to climb from the climbing guide plate 10 onto the ship's outer plating 4. Furthermore, when the carrier ship 11 is attached to the ship's outer plating 12 to be cleaned via the climbing guide plate 10, the force of the water waves will cause both the carrier ship 11 and the ship's outer plating 12 to sway, making it impossible for the climbing guide plate 10 to be stably attached to the ship's outer plating 4. Moreover, the climbing guide plate 10 may also impact the ship's outer plating 4 due to the swaying, causing damage to the ship's outer plating 4. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a ship climbing guide mechanism for ship hull climbing operations, which can guide the climbing operation vehicle to climb the ship hull at different angles.

[0004] Technical solution: To achieve the above-mentioned purpose, a wall-climbing guide mechanism of a vehicle-ship system for ship plate operation of the application comprises a ship body to be operated and a vehicle-carrying ship carrying a wall-climbing operation vehicle; the ship body to be operated has an inclined ship plate, the vehicle-carrying ship has a wall-connection guide capable of connecting the ship plate, and the wall-climbing operation vehicle can climb to the ship plate along the wall-connection guide; the wall-connection guide is hingedly installed on the vehicle-carrying ship, the vehicle-carrying ship has a vehicle storage mechanism for storing the wall-climbing operation vehicle, the vehicle storage mechanism is connected with the wall-connection guide at a vehicle outlet end, and the wall-connection guide can be rotationally connected with the vehicle outlet end in a smooth transition mode; the end of the wall-connection guide extends out of the vehicle-carrying ship, so that the end of the wall-connection guide contacts the ship plate before the vehicle-carrying ship during the process of the vehicle-carrying ship approaching the ship body to be operated; during the process of the vehicle-carrying ship approaching the ship body to be operated, the vehicle-carrying ship first drives to one side of the ship plate of the ship body to be operated, and the wall-connection guide keeps a distance from the ship plate; after the wall-climbing operation vehicle climbs to the wall-connection guide from the vehicle storage mechanism, the vehicle-carrying ship continues to move towards the ship plate; after the wall-connection guide connects the ship plate, the wall-connection guide carrying the wall-climbing operation vehicle has a tendency to rotate to the ship plate, and then the wall-climbing operation vehicle climbs to the ship plate from the wall-connection guide.

[0005] Further, the vehicle storage mechanism is movably arranged on the vehicle-carrying ship, and the movement of the vehicle storage mechanism can drive the wall-connection guide to move, so that the end of the wall-connection guide extends out of the vehicle-carrying ship or retracts into the vehicle-carrying ship.

[0006] Further, the vehicle-carrying ship has a force applying component, the force applying component applies a force to the wall-connection guide, so that the wall-connection guide keeps a smooth transition connection with the vehicle outlet end.

[0007] Further, the force applying component is a counterweight component, the counterweight component is connected with the wall-connection guide, the wall-connection guide keeps a smooth transition connection with the vehicle outlet end under the gravity of the counterweight component, and the wall-connection guide rotates after overcoming the gravity of the counterweight component during the process of the vehicle-carrying ship approaching the ship body to be operated.

[0008] Further, the force applying component is an elastic component, the wall-connection guide keeps a smooth transition connection with the vehicle outlet end under the elasticity of the elastic component, and the wall-connection guide rotates after overcoming the elasticity of the elastic component during the process of the vehicle-carrying ship approaching the ship body to be operated.

[0009] Further, the wall-connection guide has a driving surface and a wall-connection surface on two sides respectively; the wall-climbing operation vehicle climbs along the driving surface; the wall-connection surface is opposite to the ship plate, and the wall-connection surface has an elastic wall-resisting component, the elastic wall-resisting component is opposite to the ship plate, and the elastic wall-resisting component prevents the wall-connection surface from completely adhering to the ship plate.

[0010] Further, the elastic wall-resisting part comprises an elastic strip arranged at an angle with the wall-adhering surface.

[0011] Further, a working method of a wall-climbing guide mechanism of a vehicle-ship system for ship outer plate operation, comprising the following steps: step S1: the vehicle-ship moves to one side of the ship outer plate of the ship to be operated, and the wall-approaching guide part keeps a distance from the ship outer plate; step S2: the wall-climbing operation vehicle climbs from the storage mechanism to the wall-approaching guide part; step S3: the vehicle-ship moves towards the ship outer plate, and after the wall-approaching guide part overlaps the ship outer plate, the wall-approaching guide part rotates towards the direction of adhering to the ship outer plate; and step S4: the wall-climbing operation vehicle climbs from the wall-approaching guide part to the ship outer plate.

[0012] Beneficial effects: the wall-climbing guide mechanism of the vehicle-ship system for ship outer plate operation has the following beneficial effects:

[0013] 1) the vehicle-ship is provided with a storage mechanism and a wall-approaching guide part, during the movement of the vehicle-ship towards the ship to be operated, the wall-climbing operation vehicle is first stored in the storage mechanism, and then climbs from the storage mechanism to the wall-approaching guide part when the vehicle-ship moves to one side of the ship to be operated; then the vehicle-ship continues to move towards the ship to be operated, one end of the wall-approaching guide part abuts against the ship outer plate, so that the wall-approaching guide part rotates, thereby reducing the angle between the wall-approaching guide part and the ship outer plate, facilitating the wall-climbing operation vehicle to climb to the ship outer plate through the wall-approaching guide part, and being able to adapt to the ship outer plate with different inclination angles;

[0014] 2) when one end of the wall-approaching guide part overlaps the ship outer plate, since the wall-approaching guide part can rotate, even if the water wave force causes the vehicle-ship and the ship to be cleaned to shake, the wall-approaching guide part can still stably overlap the ship outer plate, and the rotation of the wall-approaching guide part can effectively avoid the collision between the wall-approaching guide part and the ship outer plate. BRIEF DESCRIPTION OF DRAWINGS

[0015] ATTACHMENT Figure 1 It is a working process schematic diagram of the wall-climbing guide mechanism of the present application;

[0016] ATTACHMENT Figure 2 It is a schematic diagram of the storage mechanism slidingly arranged on the vehicle-ship;

[0017] ATTACHMENT Figure 3 It is a schematic diagram of the storage mechanism rotationally arranged on the vehicle-ship;

[0018] ATTACHMENT Figure 4 It is a structural schematic diagram of the counterweight part and the elastic wall-resisting part;

[0019] ATTACHMENT Figure 5 It is a structural schematic diagram of the existing wall-climbing guide plate. DETAILED DESCRIPTION

[0020] The application will be further described in conjunction with the accompanying drawings.

[0021] As shown in the accompanying Figures 1 to 5 The wall-climbing guide mechanism of the ship hull operation vehicle-ship system includes a to-be-operated ship body 1 and a vehicle-carrying ship 3 carrying a wall-climbing operation vehicle 2. The to-be-operated ship body 1 includes but is not limited to a ship body waiting for cleaning operation, and can also be a ship body requiring measurement, painting or repair operation on the ship hull 4; correspondingly, the wall-climbing operation vehicle 2 includes but is not limited to a wall-climbing cleaning robot 13, and can also be a wall-climbing operation robot carrying a corresponding operation module for measurement, painting or repair operation on the ship hull 4; correspondingly, the vehicle-carrying ship 3 has a corresponding auxiliary module to cooperate with the operation module carried on the wall-climbing operation vehicle 2, for example, if the wall-climbing operation vehicle 2 has a high-pressure water gun cleaning module, the vehicle-carrying ship 3 has a water supply module.

[0022] The wall-climbing operation vehicle 2 is generally divided into a vacuum negative pressure wall-climbing vehicle and a magnetic adsorption wall-climbing vehicle according to different wall-climbing modes. The vacuum negative pressure wall-climbing vehicle applies the vacuum negative pressure principle, relies on a centrifugal fan system in the vehicle body to generate instantaneous vacuum in the vehicle body, and forms a negative pressure difference with the atmospheric pressure outside to realize adsorption. The magnetic adsorption wall-climbing vehicle uses magnetic wheels to realize adsorption. Since the ship hull 4 is mostly made of steel, the wall-climbing operation vehicle 2 applied to the ship hull 4 also mostly adopts magnetic adsorption.

[0023] The to-be-operated ship body 1 has an inclined ship hull 4. In this application, the hull area referred to by the ship hull 4 is the freeboard and the straight bottom. The vehicle-carrying ship 3 has a wall-connection guide 5 capable of connecting the ship hull 4, and the wall-climbing operation vehicle 2 can climb to the ship hull 4 along the wall-connection guide 5. The wall-connection guide 5 is hingedly installed on the vehicle-carrying ship 3. When one end of the wall-connection guide 5 has been connected to the ship hull 4, the vehicle-carrying ship 3 has a tendency to rotate the wall-connection guide 5 to be close to the ship hull 4 during the process of approaching the to-be-operated ship body 1. The rotation of the wall-connection guide 5 reduces the angle between the wall-connection guide 5 and the ship hull 4, so that the wall-climbing operation vehicle 2 can more easily climb to the ship hull 4 through the wall-connection guide 5. Different to-be-operated ship bodies 1 have different inclination angles of the ship hull 4, and the wall-connection guide 5 can adapt to the ship hull 4 with different inclination angles through rotation.

[0024] Since the wall-climbing object of the wall-climbing operation vehicle 2 is the ship hull 4, and the ship hull 4 is different from the general wall, the general ship hull 4 is inclined for the purpose of reducing the ship body resistance, etc., and therefore, as shown in the accompanying Figure 5 , the vertical wall-climbing guide plate cannot well adapt to the inclined ship hull 4, and the angle between the wall-climbing guide plate and the ship hull 4 is prone to be too large, which causes the wall-climbing cleaning robot 13 to be unable to climb to the ship hull 4 or to fall off during the climbing process.

[0025] As shown in the accompanyingFigure 5 As shown, the existing wall-climbing guide plate 10 is mostly fixed on the carrying ship 11, and the end of the wall-climbing guide plate 10 is overlapped with the ship plate 4. When the carrying ship 11 and the ship to be cleaned 12 are shaken by the action of the water waves, if the carrying ship 11 and the ship to be cleaned 12 are far away from each other, the wall-climbing guide plate 10 cannot be stably overlapped on the ship plate 4, and if the carrying ship 11 and the ship to be cleaned 12 are close to each other, the wall-climbing guide plate 10 will collide with the ship plate 4, resulting in damage to the ship plate 4. In the present application, since the wall-joining guide 5 is hingedly installed on the carrying ship 3, when the carrying ship 11 and the ship to be cleaned 12 are close to or far away from each other due to the action of the water waves, as long as the wall-joining guide 5 is rotated by a corresponding angle, the end of the wall-joining guide 5 can be kept in contact with the ship plate 4. In actual application, the wall-joining guide 5 is avoided from being completely attached to the ship plate 4, so that even when the carrying ship 11 and the ship to be cleaned 12 are close to each other due to the action of the water waves, the wall-joining guide 5 will not collide with the ship plate 4. Although the wall-joining guide 5 cannot be completely attached to the ship plate 4, the present application can still reduce the angle between the wall-joining guide 5 and the ship plate 4, so that the wall-climbing working vehicle 2 can be more stably climbed onto the ship plate 4.

[0026] The carrying ship 3 has a vehicle storage mechanism 6 for storing the wall-climbing working vehicle 2, and the vehicle storage mechanism 6 has a cavity structure for storing the wall-climbing working vehicle 2. The outlet of the cavity structure is the vehicle outlet end 7, the vehicle outlet end 7 of the vehicle storage mechanism 6 is connected with the wall-joining guide 5, and the wall-joining guide 5 can be rotated to be smoothly connected with the vehicle outlet end 7. When the wall-climbing working vehicle 2 is not started, the wall-climbing working vehicle 2 is stored in the vehicle storage mechanism 6, and the wall-climbing working vehicle 2 does not have to be kept in the state of being adsorbed on the wall-joining guide 5 at all times.

[0027] The end of the wall-joining guide 5 is extended out of the carrying ship 3, so that during the process of the carrying ship 3 approaching the ship to be worked 1, the end of the wall-joining guide 5 contacts the ship plate 4 earlier than the carrying ship 3. Thus, when the wall-joining guide 5 is overlapped on the ship plate 4, there is a space between the carrying ship 3 and the ship to be worked 1, so as to avoid direct collision between the carrying ship 3 and the ship to be worked 1 due to the action of the water waves.

[0028] An embodiment is shown in the accompanying Figure 4 As shown, the vehicle storage mechanism 6 is fixed on the carrying ship 3, and the upper end of the wall-joining guide 5 is directly extended out of the carrying ship 3.

[0029] An embodiment is shown in the accompanying Figure 2 and 3 As shown, the vehicle storage mechanism 6 is movably arranged on the carrying ship 3, the wall-joining guide 5 is hingedly connected to the upper end of the vehicle storage mechanism 6, and the movement of the vehicle storage mechanism 6 can drive the wall-joining guide 5 to move, so that the end of the wall-joining guide 5 is extended out of the carrying ship 3 or retracted into the carrying ship 3.Figure 2 In this process, driven by the drive mechanism, the storage mechanism 6 can slide on the vehicle carrier 3, thereby causing the end of the connecting guide 5 to slide out of the vehicle carrier 3. (Appendix) Figure 3 In the middle, driven by the drive mechanism, the storage mechanism 6 can be flipped on the car carrier 3, thereby causing the end of the connecting wall guide 5 to flip out of the car carrier 3.

[0030] The vehicle carrier 3 has a force-applying component that applies force to the wall guide 5, ensuring a smooth transition connection between the wall guide 5 and the vehicle exit end 7. The storage mechanism 6 also has a limiting mechanism that limits the rotational limit position of the wall guide 5. When the wall guide 5 is not subjected to other external forces, the force applied by the force-applying component causes it to rotate to its limit position, where it smoothly transitions to the vehicle exit end 7. Thus, the wall-climbing vehicle 2 can directly climb from the vehicle exit end 7 of the storage mechanism 6 onto the wall guide 5.

[0031] In one embodiment, as shown in the appendix Figure 4 As shown, the force-applying component is a counterweight 8, which is connected to the wall-connecting guide 5. Under the gravity of the counterweight 8, the wall-connecting guide 5 maintains a smooth transition connection with the vehicle exit end 7; as the vehicle-carrying vessel 3 approaches the vessel hull 1 to be operated, the force exerted by the vessel hull 1 on the wall-connecting guide 5 causes the wall-connecting guide 5 to rotate after overcoming the gravity of the counterweight 8.

[0032] In one embodiment, the force-applying component is an elastic component. Under the elastic action of the elastic component, the wall-connecting guide 5 maintains a smooth transition connection with the vehicle exit end 7. As the vehicle-carrying vessel 3 approaches the vessel hull 1 to be operated, the force exerted by the vessel hull 1 on the wall-connecting guide 5 causes the wall-connecting guide 5 to rotate after overcoming the elastic action of the elastic component. The vehicle exit end 7 of the vehicle storage mechanism 6 is hingedly connected to the wall-connecting guide 5, and the elastic component is a torsion spring mechanism disposed between the vehicle exit end 7 and the wall-connecting guide 5.

[0033] The wall-joining guide 5 is plate-shaped, with its two side surfaces being a driving surface and a wall-attaching surface, respectively. The wall-climbing vehicle 2 crawls along the driving surface. The wall-attaching surface faces the outer hull 4 of the ship, and has an elastic wall-stopping member 9 that abuts against the outer hull 4, preventing the wall-attaching surface from completely adhering to the outer hull 4. When the force of the waves causes the carrier 11 and the hull 1 to be worked on to sway and move closer to each other, the wall-joining guide 5 will not collide with the hull 1 to be worked on because the wall-attaching surface is not completely adhering to the outer hull 4. One embodiment is illustrated in the attached figure. Figure 4 As shown, the elastic wall-holding member 9 includes an elastic strip that is angled to the wall surface.

[0034] A working method of a wall-climbing guide mechanism of a vehicle-ship system for ship plate operation, comprising the following steps:

[0035] Step S1: the vehicle-ship 3 drives to one side of the ship plate 4 of the ship body 1 to be operated, at this time the wall-approaching guide 5 keeps a distance from the ship plate 4;

[0036] Step S2: the wall-climbing operation vehicle 2 climbs from the storage mechanism 6 to the wall-approaching guide 5, and the end of the wall-approaching guide 5 needs to extend out of the vehicle-ship 3, if the storage mechanism 6 is movably arranged on the vehicle-ship 3, the end of the wall-approaching guide 5 extends out of the vehicle-ship 3 after the storage mechanism 6 moves;

[0037] Step S3: the vehicle-ship 3 moves towards the ship plate 4, after the wall-approaching guide 5 overlaps the ship plate 4, the vehicle-ship 3 continues to move towards the ship plate 4, and the running surface of the wall-approaching guide 5 rotates towards the direction of the ship plate 4;

[0038] Step S4: the wall-climbing operation vehicle 2 climbs from the wall-approaching guide 5 to the ship plate 4.

[0039] The above is only the preferred embodiment of the present application, it should be noted that for ordinary skilled in the art, without departing from the principles of the present application, can also make several improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A wall-climbing guide mechanism for a vehicle-ship system for hull plating operations, characterized by: The application relates to a wall-climbing vehicle (2) and a vehicle-carrying ship (3) carrying the wall-climbing vehicle (2); the wall-climbing vehicle (2) is arranged on the vehicle-carrying ship (3); the vehicle-carrying ship (3) is provided with a wall-climbing guide (5) capable of clamping a ship outer plate (4) of a ship body (1) to be worked on; the wall-climbing vehicle (2) can climb to the ship outer plate (4) along the wall-climbing guide (5). The wall-climbing guide (5) is hingedly arranged on the vehicle-carrying ship (3); the vehicle-carrying ship (3) is provided with a vehicle storage mechanism (6) for storing the wall-climbing vehicle (2); an outlet end (7) of the vehicle storage mechanism (6) is connected with the wall-climbing guide (5); the wall-climbing guide (5) is capable of being smoothly connected with the outlet end (7); an end of the wall-climbing guide (5) is arranged outside the vehicle-carrying ship (3); during the process of the vehicle-carrying ship (3) approaching the ship body (1) to be worked on, the end of the wall-climbing guide (5) contacts the ship outer plate (4) earlier than the vehicle-carrying ship (3). During the process of the vehicle-carrying ship (3) approaching the ship body (1) to be worked on, the vehicle-carrying ship (3) firstly moves to one side of the ship outer plate (4) of the ship body (1) to be worked on; the wall-climbing guide (5) is kept apart from the ship outer plate (4); after the wall-climbing vehicle (2) climbs to the wall-climbing guide (5) from the vehicle storage mechanism (6), the vehicle-carrying ship (3) continues to move towards the ship outer plate (4); after the wall-climbing guide (5) clamps the ship outer plate (4), the wall-climbing guide (5) carrying the wall-climbing vehicle (2) has a tendency to rotate to be close to the ship outer plate (4); then the wall-climbing vehicle (2) climbs to the ship outer plate (4) from the wall-climbing guide (5).

2. A wall-climbing guide mechanism for a vehicle system for hull plating operations according to claim 1, characterized in that: The vehicle storage mechanism (6) is movably arranged on the vehicle-carrying ship (3); the movement of the vehicle storage mechanism (6) can drive the wall-climbing guide (5) to move, so that the end of the wall-climbing guide (5) is arranged outside or inside the vehicle-carrying ship (3).

3. The wall-climbing guide mechanism of a vehicle system for ship hull work according to claim 1, characterized in that: The vehicle-carrying ship (3) is provided with a force applying component; the force applying component applies force to the wall-climbing guide (5), so that the wall-climbing guide (5) is kept in smooth transition connection with the outlet end (7).

4. A wall-climbing guide mechanism for a vehicle system for hull plating operations according to claim 3, characterized in that: The force applying component is a counterweight component (8); the counterweight component (8) is connected with the wall-climbing guide (5); under the gravity of the counterweight component (8), the wall-climbing guide (5) is kept in smooth transition connection with the outlet end (7); during the process of the vehicle-carrying ship (3) approaching the ship body (1) to be worked on, the wall-climbing guide (5) rotates after overcoming the gravity of the counterweight component (8) under the action of the ship body (1) to be worked on.

5. A wall-climbing guide mechanism for a vehicle system for hull plating operations according to claim 3, characterized in that: The force applying component is an elastic component; under the elasticity of the elastic component, the wall-climbing guide (5) is kept in smooth transition connection with the outlet end (7); during the process of the vehicle-carrying ship (3) approaching the ship body (1) to be worked on, the wall-climbing guide (5) rotates after overcoming the elasticity of the elastic component under the action of the ship body (1) to be worked on.

6. A wall-climbing guide mechanism for a vehicle system for hull plating operations according to claim 1, characterized in that: The wall abutting guide (5) has a running surface and a wall abutting surface on two sides respectively; the wall climbing working vehicle (2) climbs along the running surface; the wall abutting surface is opposite to the ship outer plate (4), and the wall abutting surface is provided with an elastic wall abutting member (9) which abuts against the ship outer plate (4) to prevent the wall abutting surface from completely abutting against the ship outer plate (4).

7. A wall climbing guide mechanism for a vehicle system for hull plating operations according to claim 6, characterized in that: The elastic wall abutting member (9) comprises an elastic strip which is arranged at an angle with the wall abutting surface.

8. A method of operating a wall-climbing guide mechanism of a vehicle system for ship hull work according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: Step S1: the vehicle carrying ship (3) drives to one side of the ship outer plate (4) of the to-be-worked ship body (1), and the wall abutting guide (5) keeps a distance from the ship outer plate (4); Step S2: the wall climbing working vehicle (2) climbs from the vehicle storage mechanism (6) to the wall abutting guide (5); Step S3: the vehicle carrying ship (3) moves towards the ship outer plate (4), and after the wall abutting guide (5) overlaps the ship outer plate (4), the wall abutting guide (5) rotates towards the direction of abutting against the ship outer plate (4); Step S4: the wall climbing working vehicle (2) climbs from the wall abutting guide (5) to the ship outer plate (4).

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