阅读说明：本技术 一种磁吸特种机器人工作系统及其实现方法 (Magnetic attraction special robot working system and implementation method thereof ) 是由 林小雄 于 2020-05-28 设计创作，主要内容包括：本发明提供一种磁吸特种机器人工作系统及其实现方法,包括除锈机器人、遥控器、电控柜和喷砂装置；除锈机器人包括驱动模块、磁吸附模块、机械臂模块、除锈模块、控制盒模块以及机体；驱动模块和磁吸附模块固定于机体底部用于保证除锈机器人吸附在船舶外表面并进行前进、后退和转弯；机械臂模块用于固定除锈模块与机体,除锈模块包括喷枪以及固定于喷枪尾端的出砂管以及回砂管,出砂管和回砂管分别连接至喷砂装置；喷枪侧壁设置有密封罩,密封罩的顶部与回砂管连通；控制盒模块用于接收遥控器发送的控制指令；电控柜用于为除锈机器人以及喷砂装置提供电能；采用密封罩,可可自适应凹凸不平的外表面,增加了除锈作业的环境适应性。(The invention provides a magnetic special robot working system and an implementation method thereof, wherein the magnetic special robot working system comprises a derusting robot, a remote controller, an electric control cabinet and a sand blasting device; the rust removal robot comprises a driving module, a magnetic adsorption module, a mechanical arm module, a rust removal module, a control box module and a machine body; the driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removal robot is adsorbed on the outer surface of the ship and moves forwards, backwards and turns; the mechanical arm module is used for fixing the derusting module and the machine body, the derusting module comprises a spray gun, a sand outlet pipe and a sand return pipe, the sand outlet pipe and the sand return pipe are fixed at the tail end of the spray gun, and the sand outlet pipe and the sand return pipe are respectively connected to a sand blasting device; a sealing cover is arranged on the side wall of the spray gun, and the top of the sealing cover is communicated with the sand return pipe; the control box module is used for receiving a control instruction sent by the remote controller; the electric control cabinet is used for providing electric energy for the derusting robot and the sand blasting device; by adopting the sealing cover, the self-adaption can be carried out on the uneven outer surface, and the environmental adaptability of the rust removal operation is improved.)

1. A magnetic special robot working system is characterized by comprising a derusting robot, a remote controller, an electric control cabinet and a sand blasting device;

the rust removal robot comprises a driving module, a magnetic adsorption module, a mechanical arm module, a rust removal module, a control box module and a machine body;

the driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removal robot is adsorbed on the outer surface of the ship and moves forwards, backwards and turns; the mechanical arm module is used for fixing the derusting module and the machine body, the derusting module comprises a spray gun, a sand outlet pipe and a sand return pipe, the sand outlet pipe and the sand return pipe are fixed at the tail end of the spray gun, a sealing hairbrush is fixed at the top of the spray gun, and the sand outlet pipe and the sand return pipe are respectively connected to a sand blasting device; the side wall of the spray gun is provided with a sealing cover, and the top of the sealing cover is communicated with a sand return pipe;

the control box module is used for receiving a control instruction sent by the remote controller and driving the rust removal robot to operate;

and the electric control cabinet is used for providing electric energy for the rust removal robot and the sand blasting device and controlling the start and stop of the rust removal robot and the sand blasting device.

2. The magnetic special robot working system according to claim 1, wherein the sealing cover comprises a lower ring seat and an upper ring seat which are arranged at the bottom and the top of the spray gun, at least two spring columns are connected between the upper ring seat and the lower ring seat, and the spring columns are arranged in an array along the axial lead of the spray gun; a cover rod is movably arranged on each spring post and extends to the outer side of the bottom of the spray gun; the sealing cover also comprises cover cloth and a connecting pipe, the top of the cover cloth is fixed on the upper ring seat, and the bottom of the cover cloth is respectively fixed at the bottom of the cover rod; the cover cloth is provided with a conduit and is connected to the sand return pipe through the conduit.

3. The magnetic special robot working system as claimed in claim 2, wherein the spring post comprises a rod body and two springs sleeved on the rod body, a sliding block is fixed between the two springs, and the sliding block is movably sleeved on the rod body and connected with the cover rod.

4. The magnetic special robot working system as claimed in claim 2, wherein the bottom of the hood rod is provided with a permanent magnet or an electromagnet for adsorbing the surface of the ship, and the electromagnet is connected to the control box module through a wire.

5. The magnetic special robot working system as claimed in claim 2, wherein the bottom of the cover rod is provided with a cleaning brush, the cover rod is provided with a vibrator, and the vibrator is connected to the control box module through a wire.

6. The magnetically-attracted special robot working system of claim 2, wherein the cover cloth is fanned out and made of an elastic wear-resistant material.

7. The implementation method of the magnetic special robot working system is characterized by comprising the following steps:

s1, checking whether the working states of the rust removing robot, the remote controller, the electric control cabinet and the sand blasting device are intact;

s2, adjusting the tightness between the derusting module and the outer surface of the ship through the mechanical arm module;

s3, starting the derusting robot and the sand blasting device through the electric control cabinet;

s4, operating the remote controller to control the rust removing robot to move and work on the outer surface of the ship;

s5, enabling the sand grains to leave the sand blasting device from the sand outlet pipe and return to the sand blasting device through the sand return pipe, and circularly working to perform rust removal operation on the surface of the ship;

s6, when the rust removing robot passes through the convex surface, the sealing surface is compensated through the sealing cover to ensure the normal operation of the spray gun, the sand outlet pipe and the sand return pipe;

and S7, closing the derusting robot and the sand blasting device through the electric control cabinet after the operation is finished.

Technical Field

The invention belongs to the technical field of ship equipment, and particularly relates to a magnetic special robot working system and an implementation method thereof.

Background

With the development of marine technology, more and more ships are used for the development of marine services. However, since seawater contains various chemical substances, seawater is severely corrosive to the main steel plates of ships; meanwhile, seawater contains various marine organisms, and there are many adsorptive organisms among the marine organisms, which are adsorbed on ships and then cause the ship body to rust as the use time increases. After the ship body rusts, the rust has serious corrosivity on the ship body, if the rust on the ship body is not removed, the corrosion of the rust on the ship body is more and more serious along with the increase of the rust, namely, if the rust removing treatment is not carried out for a long time, the service life of the ship is seriously influenced, and therefore, the rust removing on the ship body of the marine ship is a means for prolonging the service life of the ship.

The modes of rust removal for ships generally comprise two rust removal modes of mechanical rust removal and chemical rust removal, wherein the mechanical rust removal generally comprises electric rust removal, sand blasting rust removal, high-pressure water abrasive rust removal and shot blasting rust removal. The sand blasting and rust removal mainly realizes rust removal on the metal surface by the jet erosion effect of particles. The existing sand blasting and rust removing equipment can only adapt to a relatively smooth rust removing target, cannot adapt to a convex surface existing on a ship, and has the problem that sand grains are leaked out due to the fact that the rust removing effect is general and at the convex surface position.

Disclosure of Invention

The invention aims to provide a magnetic special robot working system and an implementation method thereof, and aims to solve the problem that the existing sand blasting and rust removing equipment cannot normally work on a convex surface on a ship.

The invention provides the following technical scheme:

a magnetic special robot working system is characterized by comprising a derusting robot, a remote controller, an electric control cabinet and a sand blasting device; the rust removal robot comprises a driving module, a magnetic adsorption module, a mechanical arm module, a rust removal module, a control box module and a machine body; the driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removal robot is adsorbed on the outer surface of the ship and moves forwards, backwards and turns; the mechanical arm module is used for fixing the derusting module and the machine body, the derusting module comprises a spray gun, a sand outlet pipe and a sand return pipe, the sand outlet pipe and the sand return pipe are fixed at the tail end of the spray gun, a sealing hairbrush is fixed at the top of the spray gun, and the sand outlet pipe and the sand return pipe are respectively connected to a sand blasting device; the side wall of the spray gun is provided with a sealing cover, and the top of the sealing cover is communicated with a sand return pipe; the control box module is used for receiving a control instruction sent by the remote controller and driving the rust removal robot to operate; and the electric control cabinet is used for providing electric energy for the rust removal robot and the sand blasting device and controlling the start and stop of the rust removal robot and the sand blasting device.

Preferably, the sealing cover comprises a lower ring seat and an upper ring seat which are arranged at the bottom and the top of the spray gun, at least two spring columns are connected between the upper ring seat and the lower ring seat, and the spring columns are arranged in an array along the axial lead of the spray gun; a cover rod is movably arranged on each spring post and extends to the outer side of the bottom of the spray gun; the sealing cover also comprises cover cloth and a connecting pipe, the top of the cover cloth is fixed on the upper ring seat, and the bottom of the cover cloth is respectively fixed at the bottom of the cover rod; the cover cloth is provided with a conduit and is connected to the sand return pipe through the conduit.

Preferably, the spring post comprises a rod body and two springs sleeved on the rod body, a sliding block is fixed between the two springs, and the sliding block is movably sleeved on the rod body and connected with the cover rod.

Preferably, the bottom of the cover rod is provided with a permanent magnet or an electromagnet for adsorbing the surface of the ship, and the electromagnet is connected to the control box module through a lead.

Preferably, the bottom of the cover rod is provided with a cleaning brush, the cover rod is provided with a vibrator, and the vibrator is connected to the control box module through a lead.

Preferably, the cover cloth is unfolded into a fan shape and made of elastic wear-resistant materials.

A method for realizing a magnetic special robot working system comprises the following steps:

s1, checking whether the working states of the rust removing robot, the remote controller, the electric control cabinet and the sand blasting device are intact; s2, adjusting the tightness between the derusting module and the outer surface of the ship through the mechanical arm module; s3, starting the derusting robot and the sand blasting device through the electric control cabinet; s4, operating the remote controller to control the rust removing robot to move and work on the outer surface of the ship; s5, enabling the sand grains to leave the sand blasting device from the sand outlet pipe and return to the sand blasting device through the sand return pipe, and circularly working to perform rust removal operation on the surface of the ship; s6, when the rust removing robot passes through the convex surface, the sealing surface is compensated through the sealing cover to ensure the normal operation of the spray gun, the sand outlet pipe and the sand return pipe; and S7, closing the derusting robot and the sand blasting device through the electric control cabinet after the operation is finished.

The invention has the beneficial effects that:

according to the magnetic special robot working system and the implementation method thereof, compared with the traditional manual rust removal operation, the rust removal efficiency is high and the rust removal cost is low through the rust removal robot, the remote controller, the electric control cabinet and the sand blasting device; the rust removal robot adopts a modular design, and is convenient to maintain, load, unload and transport; by adopting the sealing cover, the self-adaption can be carried out on the uneven outer surface, and the environmental adaptability of the rust removal operation is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of a rust removing robot of the present invention;

FIG. 2 is a schematic structural diagram of a mechanical arm module and a derusting module;

FIG. 3 is a schematic diagram of a rust removing structure;

FIG. 4 is a schematic view of the operating state of the sealing boot;

fig. 5 is a flow chart of a method of operation of the present invention.

Detailed Description