A wall-climbing robot for sandblasting a ship hull

Abstract

The utility model relates to a rust cleaning device technical field especially relates to a kind of wall-climbing robot for ship body sand blasting derusting. Including shell, swing arm mechanism, movable side, extension arm and gyro wheel. The robot has the movable side of symmetrical arrangement, the both ends of movable side are equipped with the extension arm that extends outward and downward, the end of extension arm is connected with magnetic gyro wheel, gyro wheel is made of magnet, for adsorption on ship surface. Movable side is rotatably connected with shell middle part, and symmetrical servo motor is arranged in inside, and the output shaft of servo motor drives gyro wheel rotation by transmission mechanism. Swing arm mechanism includes pivot, sleeve, swing arm and sand blasting gun clamp, for installing and positioning sand blasting gun. The robot structure is ingenious, by the rotation of movable side, when encountering the pit or uneven place of ship surface, the stability of device can be kept by the adjustment of gyro wheel, to realize efficient, stable ship sand blasting derusting operation.

Description

Technical Field

[0001] This utility model relates to the field of rust removal device technology, and in particular to a wall-climbing robot used for sandblasting and rust removal of ship hulls. Background Technology

[0002] Ship hulls inevitably rust during service, requiring regular rust removal to ensure safety and extend their lifespan. Traditional rust removal methods are mostly manual, inefficient, and involve high labor intensity and health risks for operators. With the development of automation technology, robots for ship hull surface operations have emerged. However, some existing wall-climbing robots have complex structures and poor adaptability, especially when dealing with uneven areas such as pits and bumps on the hull surface, making stable operation difficult. Utility Model Content

[0003] This utility model provides a ship hull sandblasting and rust removal climbing robot with a simple structure, strong adaptability, and the ability to effectively deal with uneven areas on the ship hull surface.

[0004] The technical solution adopted in this utility model is: a wall-climbing robot for sandblasting and rust removal of ship hulls, including a housing and a swing arm mechanism.

[0005] The two sides of the housing are symmetrically provided with movable sides, and the middle part of each movable side is rotatably connected to the middle part of the housing. Each movable side has an extension arm extending outward and downward at both ends, and the end of each extension arm is rotatably connected to a roller. The roller is made of magnet and is used to adhere to the surface of the hull.

[0006] Furthermore, the swing arm mechanism includes a rotating shaft, a sleeve, a swing arm, and a sandblasting gun clamp. The rotating shaft is rotatably connected to the housing, the sleeve is fixedly sleeved on the top end of the rotating shaft, one end of the swing arm is fixedly connected to the sleeve, and the sandblasting gun clamp is rotatably connected to the other end of the swing arm.

[0007] Furthermore, each of the active sides is symmetrically equipped with a servo motor, and the output shaft of each servo motor is connected to the rotating shaft of the roller on the corresponding side through a transmission mechanism.

[0008] Furthermore, the transmission mechanism includes a synchronous belt and a synchronous pulley, the synchronous pulley being respectively disposed on the output shaft of the servo motor and the rotating shaft of the roller, and the synchronous belt being sleeved on the synchronous pulley.

[0009] Furthermore, rubber bushings are provided on both sides of the roller.

[0010] Compared with the prior art, the beneficial effects of this utility model are: By incorporating movable sides that rotatably connect to the center of the casing and feature extension arms and rollers at both ends, the robot can navigate through pits or depressions on the hull surface. These movable sides rotate around their connection point with the casing, allowing the extension arms and rollers to extend downwards, filling or adapting to the pits and maintaining contact between the robot's body and the hull surface, ensuring stable operation. Symmetrically arranged servo motors and transmission mechanisms can independently drive the rollers on both sides, providing forward propulsion and steering control. Magnetic rollers provide strong adhesion, ensuring stable attachment of the robot to vertical or inclined hull surfaces. The sandblasting gun clamp is located at the end of the swing arm, allowing for adjustment of the sandblasting gun within a certain range to accommodate different rust removal areas. Rubber collars increase friction between the rollers and the hull surface, while also providing cushioning. Attached Figure Description

[0011] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the internal structure of the movable side panel; Figure 3 This is a schematic diagram of the transmission mechanism.

[0012] In the diagram: 1-Housing; 2-Movable side; 3-Extension arm; 4-Roller; 51-Shaft; 52-Sleeve; 53-Swing arm; 54-Sandblasting gun clamp; 6-Servo motor; 7-Transmission mechanism; 71-Synchronous belt; 72-Synchronous pulley; 8-Rubber ring. Detailed Implementation

[0013] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0014] As shown in the figure, this utility model provides a wall-climbing robot for sandblasting and rust removal of ship hulls, including a housing 1 and a swing arm mechanism mounted on the housing 1. The housing 1 is a main structure used to support and integrate other components.

[0015] The housing 1 has symmetrical movable sides 2 on both sides. The middle of each movable side 2 is rotatably connected to the middle of the housing 1 via a pivot or hinge. For example, the movable side 2 can be connected to the housing 1 via a pivot installed inside the housing 1. Each end of the movable side 2 has an extension arm 3 extending outwards and downwards. The end of each extension arm 3 is rotatably connected to a roller 4. The roller 4 is made of magnets, with sufficient magnetic strength to adhere to the metal hull surface, providing adhesion for the robot. Rubber collars 8 can be installed on both sides of the roller 4 to increase friction and provide cushioning.

[0016] The swing arm mechanism includes a rotating shaft 51, a sleeve 52, a swing arm 53, and a sandblasting gun clamp 54. The rotating shaft 51 is mounted on the housing 1 and is rotatable. The sleeve 52 is fixedly fitted onto the top end of the rotating shaft 51. One end of the swing arm 53 is fixedly connected to the sleeve 52. The sandblasting gun clamp 54 is rotatably connected to the other end of the swing arm 53. This clamp is used to fix the sandblasting gun, enabling it to perform sandblasting and rust removal on the hull surface according to a preset trajectory. By rotating the rotating shaft 51 and the swing arm 53, the working angle and range of the sandblasting gun can be adjusted.

[0017] To drive the rollers 4 to rotate, servo motors 6 are symmetrically arranged inside each movable side 2. The output shaft of the servo motor 6 is connected to the shaft of the corresponding roller 4 via a transmission mechanism 7. The transmission mechanism 7 can be implemented in various ways; for example, in this embodiment, the transmission mechanism 7 includes a synchronous belt 71 and synchronous pulleys 72. The synchronous pulleys 72 are respectively mounted on the output shaft of the servo motor 6 and the shaft of the roller 4, and the synchronous belt 71 is fitted onto these two synchronous pulleys 72, forming a gear transmission. When the servo motor 6 rotates, it transmits power to the roller 4 through the synchronous belt 71 and the synchronous pulleys 72, causing the roller 4 to rotate and thus driving the robot forward.

[0018] Working principle: During robot operation, the servo motor 6 not only drives the rollers 4 to rotate, providing forward propulsion, but also controls the robot's steering by adjusting the speed difference between the two rollers 4. When the robot encounters potholes or depressions on the hull surface, the movable side 2 rotates around its connection point with the housing 1, allowing the extension arm 3 and rollers 4 to extend downwards and fill the potholes. This helps the robot maintain a relatively stable posture, preventing it from tilting or becoming unstable due to uneven hull surfaces. After the robot leaves a pothole, the movable side 2 returns to its initial position under the magnetic force of the rollers 8.

[0019] The sandblasting gun clamp 54 can be precisely aimed at the area that needs rust removal through the adjustment of the swing arm mechanism, so as to achieve comprehensive and efficient sandblasting and rust removal on the surface of the ship.

Claims

1. A wall-climbing robot for sandblasting and rust removal of ship hulls, comprising a housing (1) and a swing arm mechanism, characterized in that: The housing (1) is symmetrically provided with movable sidewalls (2) on both sides. The middle part of each movable sidewall (2) is rotatably connected to the middle part of the housing (1). The two ends of each movable sidewall (2) are respectively provided with outward and downward extending arms (3). The end of each extending arm (3) is rotatably connected with a roller (4). The roller (4) is made of magnet and is used to adhere to the surface of the hull.

2. The wall-climbing robot for sandblasting and rust removal of ship hulls according to claim 1, characterized in that: The swing arm mechanism includes a rotating shaft (51), a sleeve (52), a swing arm (53), and a sandblasting gun clamp (54). The rotating shaft (51) is rotatably connected to the housing (1). The sleeve (52) is fixedly sleeved on the top end of the rotating shaft (51). One end of the swing arm (53) is fixedly connected to the sleeve (52), and the sandblasting gun clamp (54) is rotatably connected to the other end of the swing arm (53).

3. The wall-climbing robot for sandblasting and rust removal of ship hulls according to claim 1, characterized in that: Each of the active sides (2) is symmetrically provided with a servo motor (6), and the output shaft of each servo motor (6) is connected to the rotating shaft of the roller (4) on the corresponding side through a transmission mechanism (7).

4. A wall-climbing robot for sandblasting and rust removal of ship hulls according to claim 3, characterized in that: The transmission mechanism (7) includes a synchronous belt (71) and a synchronous pulley (72). The synchronous pulley (72) is respectively disposed on the output shaft of the servo motor (6) and the rotating shaft of the roller (4). The synchronous belt (71) is sleeved on the synchronous pulley (72).

5. A wall-climbing robot for sandblasting and rust removal of ship hulls according to claim 1, characterized in that: Rubber rings (8) are provided on both sides of the roller (4).

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