The application describes a device in the form of a robot (1) for performing operations on ship's hulls (25). The robot (1) comprises magnetic wheels (4) enabling the robot (1) to adhere to ferrous hulls (25) via magnetic forces and a suspension arrangement (5, 10, 11, 12, 24) for supporting the wheels (4) on a body (2, 3) of the robot (1) and for allowing the robot (1) to travel over uneven surfaces. The wheels (4) include a first pair of wheels and a second pair of wheels, with the pairs of wheels spaced apart from one another along a length of the robot (1). The suspension arrangement comprises a suspension pivot mechanism (5, 24) allowing a line extending between the centres of the first pair of wheels to rotate relative to a line extending between the centres of the second pair of wheels, along with a camber pivot mechanism (10, 11, 12) for each wheel (4), with the camber pivot mechanism (10, 11, 12) allowing the axis of rotation of the wheel (4) to rotate relative to the axes ofrotation of the other wheels (4) in order that the wheel (4) can align its axis of rotation with the surface of the hull (25). The magnetic forces for attaching the wheel (4) to the hull (25) act to rotate the suspension pivot mechanism (5, 24) and camber pivot mechanisms (10, 11, 12). The robot (1) can therefore maintain a secure contact with the hull (25) as it travels over the hull (25).
本申请描述呈机器人(1)形式的装置,其用于在船舶的船体(25)上执行操作。所述机器人(1)包含使得所述机器人(1)能够经由磁力附着到铁船体(25)的磁性轮子(4),以及悬架布置(5、10、11、12、24),所述悬架布置用于将所述轮子(4)支撑在所述机器人(1)的主体(2、3)上并且用于允许所述机器人(1)在不平坦的表面上行进。所述轮子(4)包括第一对轮子和第二对轮子,其中各对轮子沿所述机器人(1)的长度彼此间隔开。所述悬架布置包含悬架枢轴机构(5、24),从而允许在所述第一对轮子的中心之间延伸的线随着用于每个轮子(4)的外倾角枢轴机构(10、11、12)相对于在所述第二对轮子的中心之间延伸的线旋转,其中所述外倾角枢轴机构(10、11、12)允许所述轮子(4)的旋转轴线相对于其它轮子(4)的旋转轴线旋转,以便所述轮子(4)能够将其旋转轴线与所述船体(25)的表面对齐。用于将所述轮子(4)附接到所述船体(25)的所述磁力用以旋转所述悬架枢轴机构(5、24)和外倾角枢轴机构(10、11、12)。因此所述机器人(1)能够在其在所述船体(25)上行进时维持与所述船体(25)牢固接触。
ROBOT WITH MAGNETIC WHEELS FOR CLEANING SHIP HULLS
用于清洁船舶船体的具有磁性轮子的机器人
2020-10-30
Patent
Electronic Resource
Chinese