WO2018006547A1 - Système pour éliminer la rouille de la surface de la coque d'un navire - Google Patents

Système pour éliminer la rouille de la surface de la coque d'un navire Download PDF

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Publication number
WO2018006547A1
WO2018006547A1 PCT/CN2016/108853 CN2016108853W WO2018006547A1 WO 2018006547 A1 WO2018006547 A1 WO 2018006547A1 CN 2016108853 W CN2016108853 W CN 2016108853W WO 2018006547 A1 WO2018006547 A1 WO 2018006547A1
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WIPO (PCT)
Prior art keywords
abrasive
sand
safety
switch
rust
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Ceased
Application number
PCT/CN2016/108853
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English (en)
Chinese (zh)
Inventor
张轲
朱晓鹏
徐正一
金鑫
石忠贤
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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Filing date
Publication date
Application filed by Shanghai Jiao Tong University filed Critical Shanghai Jiao Tong University
Publication of WO2018006547A1 publication Critical patent/WO2018006547A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
    • B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface

Definitions

  • This invention relates to painting manufacturing techniques and, in particular, to a surface descaling system for hull panels, and more particularly to a rust removing system for large splice seams on the surface of a hull.
  • the painting work of the hull section can be carried out in the workshop. However, after the hull section is welded, it can only be painted on the dock site due to its large volume. A large number of tailor welded seams need to be surface treated before painting. Rust, the second is to make the surface reach a certain roughness.
  • manual blasting is usually used for surface cleaning, but the hull segment assembly has a long weld seam, large amount of blasting work, low efficiency, high labor intensity, poor working conditions, and dust and noise.
  • the health impact is enormous.
  • the artificially polished dust is not recycled, and it will cause serious pollution to the environment after it is directly discharged into the dock and discharged into the sea. This is inconsistent with the current concept of green shipbuilding and environmentally friendly shipbuilding.
  • a ship wall rust-removing wall-climbing robot disclosed in the Chinese Patent Publication No. CN201633804U is disclosed.
  • the invention uses an ultra-high pressure water jet method for rust removal, but the patent only
  • the robot is described without including the ultra-high pressure water and recovery system, the ground moving equipment, and the control system, and the crawler type walking mechanism and the permanent magnet adsorption unit are mounted on the crawler belt, the body weight is large, and the crawler belt and the ground The friction between the two is too large, and it is difficult to turn; the magnetic gap type wall-climbing robot for dry and wet environments disclosed in the Chinese Patent Publication No.
  • the invention uses an ultra-high pressure pure water jet to remove Rust, driven by a pneumatic (or electric) motor, and the adsorption unit consisting of magnetic blocks is placed on both sides of the track and does not contact the working steel surface to form an adjustable magnetic gap.
  • the magnetic adsorption unit is non-contact.
  • the ground friction is slightly smaller, but the crawler-type walking structure design makes the body heavier and turning more difficult.
  • the safety device is disposed on the body of the ship; the body of the wall climbing robot is connected to the safety device; the sand blasting device is disposed on the body of the wall climbing robot;
  • the sand inlet pipe joint of the sand blasting ruster is connected to the abrasive conveying system, and the returning sand pipe joint is connected to the vacuum recovery system;
  • the vacuum negative pressure recovery system communicates with the sandblasting rust remover through the return sand pipe joint, and is used for recovering rust, oil stain, dust and abrasive which impacts the surface of the workpiece and rebounds back.
  • the air compressor is connected to the abrasive conveying system and the abrasive separation recirculation system for supplying compressed air to the abrasive conveying system and the abrasive separation and circulation system;
  • the abrasive separation and circulation system is used for separating the abrasive recovered by the vacuum recovery system and then feeding it into the abrasive delivery system, and collecting dust and rust through the dust collecting bucket and the filter screen, respectively.
  • the control cabinet electrically connects the wall climbing robot body, a sandblasting rust remover, an air compressor, an abrasive conveying system, a vacuum negative pressure recovery system, and an abrasive separation and recycling system.
  • the remote control box is connected to the control cabinet wirelessly or by wire; the air compressor, the abrasive delivery system, the vacuum negative pressure recovery system, the abrasive separation and recirculation system, and the control cabinet are disposed at the control cabinet On the mobile platform.
  • one end of the inlet pipe joint is connected to the abrasive conveying system through the sand inlet pipe, and the sand returning set on the blasting chamber
  • the pipe joint is connected to the vacuum recovery system through the return pipe;
  • the spray gun is disposed in the blasting chamber; the rotary electric machine is configured to drive the spray gun to rotate through the reducer; the lower end of the blasting chamber is provided with a brush; and the other end of the sand inlet pipe joint is connected to the reducer
  • the hollow shaft in turn, communicates with the blasting chamber.
  • control cabinet comprises an operation panel, a video monitoring system, a remote control box and a PLC main controller;
  • the operation panel, the video monitoring system and the remote control box are all connected to the main controller.
  • the PLC main controller includes a digital input interface unit, a digital output interface unit, and a motion controller;
  • the switch input interface unit is connected to the operation panel, the abrasive conveying system, the abrasive separation and recirculation system, the vacuum negative pressure recovery system, the safety travel limit switch of the climbing machine body, the proximity switch, and the signal receiving unit of the remote control box;
  • the switch output interface unit is connected to the abrasive conveying system, the abrasive separation and recycling system, the vacuum negative pressure recovery system, and the signal sending unit of the remote control box;
  • the motion controller connects the wall-climbing robot body and the motor driver of the sandblasting rust remover.
  • the safety travel limit switch is connected to an input signal unit of the PLC.
  • the proximity switch is connected to an input signal unit of the PLC.
  • the video monitoring system comprises a video monitor, a front video surveillance camera and a rear video surveillance camera;
  • the front video surveillance camera and the rear video surveillance camera are connected by wired or wireless connection to the video monitor;
  • the video monitor is connected to the PLC main controller
  • a front video surveillance camera and a rear video surveillance camera are disposed on the body of the wall climbing robot;
  • the front video surveillance camera is used to capture the weld path in real time; the rear video surveillance camera is used to monitor the quality of sandblasting and rust removal in real time.
  • the front end of the wall-climbing machine body is provided with a first safety stroke limit switch and a second safety stroke limit switch, and the rear end is provided with a third safety stroke limit switch and a fourth safety stroke limit switch;
  • the first safety travel limit switch, the second safety travel limit switch, the third safety travel limit switch, and the fourth safety travel limit switch are connected to the switch input interface unit, wherein the first safety travel limit switch, the first The second safety travel limit switch is used for detecting the travel limit in the forward movement of the climbing machine body, and the third safety travel limit switch and the fourth safety travel limit switch are used for detecting the travel limit during the retreat of the climbing machine body.
  • the present invention has the following beneficial effects:
  • the invention adopts a wall-climbing robot as a moving body, and performs sand blasting and rust removal on large-scale high-altitude structural parts such as a large container, a ship wall surface and an electric power station based on a sand blasting method, and is based on vacuum negative pressure on abrasive, dust and rust.
  • a wall-climbing robot as a moving body, and performs sand blasting and rust removal on large-scale high-altitude structural parts such as a large container, a ship wall surface and an electric power station based on a sand blasting method, and is based on vacuum negative pressure on abrasive, dust and rust.
  • the invention adopts a video monitoring system to realize real-time monitoring and guiding of sandblasting and derusting quality and derusting path, and realizes safety detection and control of the wall climbing robot operation process based on the stroke limit and tipping detection;
  • the invention can be safe, environmentally friendly, energy-saving, and the working height can reach 30m, the accessibility is strong, the single derusting width can be more than 200mm, the efficiency is high, the operation is simple, and the efficiency and quality of sand blasting are greatly improved.
  • the mobile platform facilitates field applications such as ships, large containers, and electric power stations;
  • the invention can replace the manual sandblasting and rust removal of the large splice weld, reduce the labor intensity and improve the automation level of sand blasting and rust removal.
  • FIG. 1 is a schematic structural view of a surface descaling system for a hull plate of the present invention
  • FIGS. 2(a) and 2(b) are schematic diagrams showing the layout of the wall climbing robot of the present invention.
  • Fig. 3 is a schematic view showing the control system of the wall climbing robot of the present invention.
  • the safety device 13 is configured to be disposed on the vessel body 14; the climbing wall body 1 is coupled to the safety device 13; the sandblasting rust remover 2 is disposed on the wall climbing robot body 1; The wall robot body 1 drives the spray rust remover 2 to move;
  • the sand inlet pipe joint 28 of the sandblasting rust remover 2 is connected to the abrasive conveying system 8, and the returning sand pipe joint 29 is connected to the vacuum recovery system 6;
  • the air compressor 9 is connected to the abrasive conveying system 8 and the abrasive separation recirculation system 7 for supplying compressed air to the abrasive conveying system 8 and the abrasive separation and circulation system 7;
  • the abrasive separation circulation system 7 is used to separate the abrasive recovered by the vacuum recovery system 6 and then sent to the abrasive delivery system 8;
  • the control cabinet 10 electrically connects the wall climbing robot body 1, the sandblasting rust remover 2, the air compressor 9, the abrasive conveying system 8, the vacuum negative pressure recovery system 6, and the abrasive separation recirculation system 7.
  • the hull blasting and rust removing mobile robot provided by the invention further comprises a remote control box 11 and a movable platform 12;
  • the remote control box 11 is wirelessly connected to the control cabinet 10; the air compressor 9, the abrasive delivery system 8, the vacuum negative pressure recovery system 6, the abrasive separation recirculation system 7, and the control A cabinet 10 is disposed on the movable platform 12.
  • the blasting rust remover 2 comprises a rotating electric machine, a speed reducer, a blasting chamber, a spray gun, a sand inlet pipe joint 28, a brush 17 and a recovery pipe joint 29;
  • one end of the sand inlet pipe joint 28 is connected to the abrasive conveying system 8 through the sand inlet pipe 4, and the sand return pipe joint 29 provided on the blasting chamber is connected to the vacuum recovery system 6 through the returning sand pipe 3;
  • the air compressor 9 provides compressed air at 0.6-0.8 MPa, 6-8 m3/min for the wall climbing robot, the abrasive conveying system 8, and the abrasive separation circulation system 7.
  • the abrasive conveying system 8 opens the sand valve under the action of the compressed air provided by the air compressor 9, and uses the thrust of the compressed air to transport the abrasive through the sand feeding pipe 4 to a distance of 20-30 m or a high altitude and passes through the sand feeding pipe.
  • the joint 28 is input to the spray gun of the sandblasting rust remover 2, thereby achieving sandblasting and rust removal on the surface of the workpiece.
  • the vacuum recovery system 4 refers to the suction of the blasting cavity of the sandblasting rust remover by a vacuum pump to generate a negative pressure, and the abrasive and dust in the process of sandblasting and rusting under the action of vacuum negative pressure.
  • the rust or the like is recovered by a recovery pipe connected to the sand return pipe joint 29 of the sandblasting rust remover.
  • the dust and rust are collected and filtered separately through a dust collecting bucket and a filter.
  • the abrasive separation and circulation system 7 is used for the abrasive recovered by the vacuum recovery system 6, and is separated by the cyclone separation principle under the action of compressed air, and enters the abrasive delivery system again by using multiple silo structures, so that it can be recycled multiple times. Significantly reduced costs.
  • control cabinet 10 includes an operation panel, a video monitoring system, and a PLC main controller 26;
  • the PLC main controller 26 includes a digital input interface unit, a digital output interface unit, a motion controller, an Ethernet interface unit, and a bus interface unit; the operation panel adopts a touch screen 24;
  • the switch input interface unit is connected to the operation panel and is used for transmitting control information such as start, stop, servo off, servo start, system reset, fault reset, and system emergency stop.
  • the switch input interface unit is connected to the abrasive conveying system.
  • the abrasive separation and recirculation system, the vacuum negative pressure recovery system, the front end of the climbing machine body 1 is provided with a first safety stroke limit switch 181, a second safety stroke limit switch 182, and a third safety stroke limit switch is arranged at the rear end. 201.
  • the fourth safety travel limit switch 202 is provided with a first proximity switch 191 and a second proximity switch 192 at the front end of the lower side of the wall-climbing machine body, and a third proximity switch 211 and a fourth proximity switch 212 are disposed at the rear end.
  • the digital input interface unit is connected to the signal receiving unit of the remote control box 11 for transmitting the control information of the forward, backward, and cornering of the climbing wall body 1, the rotation, sand blasting, sand absorbing, blowing, and emergency stop of the spray gun.
  • the switch output interface unit is connected to the abrasive conveying system, the abrasive separation recirculation system, and the vacuum negative pressure recovery system to transmit control information to control the transportation of the abrasive, the separation cycle of the recovered abrasive, the recovery of the abrasive and the rust.
  • the switch output interface unit is also connected with the system ready, motor fault, power indication, buzzer alarm, tri-color indicator and other devices to reflect the working state of the system; the switch output interface unit also It is connected with the signal sending unit of the remote control box 11 to feedback whether the system is ready, the material of the silo is out of material, the motor is overloaded, and the state of the wall climbing robot is convenient for on-site control and operation.
  • the motion controller of the PLC main controller 26 is connected to the wall drive robot body 1 and the motor driver of the sandblasting rust remover 2 through the Profibus bus interface unit to transmit the state and control information of the crawler robot body movement and the gun rotation, PLC
  • the main controller 26 is connected to the industrial PC through the Ethernet Ethernet interface unit to receive the robot correcting position control signal obtained by the industrial PC through the control algorithm and to feedback the position information of the current robot in real time.
  • the first safety travel limit switch 181, the second safety travel limit switch 182, the third safety travel limit switch 201, and the fourth safety travel limit switch 202 are connected to the digital input interface unit, wherein the first safety travel limit The position switch 181 and the second safety travel limit switch 182 are used for detecting the travel limit of the climbing machine body 1 in advance, and the third safety travel limit switch 201 and the fourth safety travel limit switch 202 are used for detecting the wall climbing machine.
  • the stroke limit during the retreat of the body 1 encounters an obstacle during the current advance or retreat, and the body of the climbing machine immediately stops moving to ensure the safety of the blasting process.
  • the first proximity switch 191, the second proximity switch 192, the third proximity switch 211, and the fourth proximity switch 212 are connected to the digital input interface unit, wherein the first proximity switch 191 and the second proximity switch 192 are used to detect the wall climbing machine.
  • the distance between the front body of the front side of the body and the surface of the workpiece, the third proximity switch 211 and the fourth proximity switch 212 are used to detect the distance between the lower side of the body of the wall-climbing machine and the surface of the workpiece, thereby preventing the wall machine body from tilting during the operation.
  • the video monitoring system includes a video monitor 22, a front video surveillance camera 151, and a rear video surveillance camera 152;
  • the front video surveillance camera 151 and the rear video surveillance camera 152 are connected to the video monitor 22 in the control cabinet by wire or wirelessly;
  • the front video surveillance camera 151 is used for real-time shooting of the weld path, which is convenient for the ground operator to remotely control the movement path of the robot. After the sandblasting and rust removal, the quality of the current sandblasting and rust removal can be reflected by the video monitor 22, and the sandblasting is easily adjusted. Rust process parameters.
  • the rear video surveillance camera 152 is used to monitor the quality of sandblasting and rust removal in real time during the operation process, and is convenient and practical. When the process parameters are adjusted, the sandblasting and derusting paths can also be monitored to realize remote control of the path. Only the front video surveillance camera 151 can not monitor the quality of sand blasting during the operation, and only the rear video surveillance camera 152 can not reflect the path of the front end of the robot in real time. Therefore, according to the actual needs of the site, the front dual camera 151 and the rear dual camera 152 may be provided, or the front camera 151 or the rear camera 152 may be separately provided.
  • the remote control box 11 mainly includes a signal input unit and a signal output unit.
  • the signal input unit, the signal output unit and the PLC main controller 26 may be wired or wirelessly connected, and may be a bus or an IO signal point. Directly connected.
  • the signal output unit of the remote control box 11 is connected to the input unit of the PLC main controller 26 to control information such as forward, backward, turn, sand blasting, sand absorbing, blowing, etc. of the climbing wall body 1, and the signal input unit and the PLC main
  • the signal output unit of the controller 26 is connected to feedback system main state information such as system ready, fault, motor overload, material level, sand blasting, etc., to facilitate on-site operation and control, and improve system efficiency and safety.
  • the safety device 13 protects the movement and sand blasting process of the wall climbing robot through the hoist and the fall arrester during the sand blasting process.
  • the wire rope of the safety device is attached to the front end of the wall-climbing robot. If it is operated on a large high-altitude inclined arc surface, in order to prevent the robot from swaying, the rear end of the wall-climbing robot is usually protected by a fall arrester.
  • the movable platform wherein: the climbing wall body 1, the safety device 13, the sandblasting rust remover 2, the air compressor 9, the abrasive conveying system 8, the vacuum negative pressure recovery system 6, the abrasive The separation and reuse system 7, the control cabinet 10, the inlet pipe 4, the return pipe 2, and the control cable 5 are fixedly placed thereon.
  • the movable platform can be either electric wheeled or wheeled, which is convenient for on-site forklift transport. Depending on the size of the dock or the needs of the use, the mobile platform can be one, or they can be fixed on two platforms.
  • the sand inlet tube 4 and the control cable 5 are placed on one platform separately, and the air compressor 9 and the safety device 13 are separately placed on the other platform. Two smaller mobile platforms make it easier to transport and move the equipment on site.
  • the blasting and rust removing operation process of the hull blasting and derusting mobile robot is as follows: under the action of compressed air, the abrasive is transported to the blasting rust remover 2 at the upper working level, Under the action of the internal automatic high-efficiency spray gun, the surface of the workpiece is sandblasted and rusted, and the rotary motor 27 of the sandblasting rust remover 2 drives the spray gun to rotate, thereby increasing the width of a single blasting and rust removal, and the blasting process generates The dust, rust and unbroken abrasive are recovered by the vacuum returning force under the vacuum negative pressure, and then the abrasive is further separated and recycled, and the climbing wall body 1 is loaded with the blasting rust remover 2, the signal control cable 5.
  • the sand inlet pipe 4 and the sand return pipe 3 move together to realize the control of the sandblasting path and the trajectory, and the video monitor 22 can monitor the sand blasting track and the sandblasting rust quality in real time.
  • the quantity realizes the remote real-time adjustment of the movement path of the climbing wall body 1 and the 2 process parameters of the sandblasting rust remover.
  • the width of a single blasting can be more than 200-300mm, and the vacuum negative pressure recovery system basically realizes 100% dust, rust pollution recovery, and minimizes sand blasting and rust removal. Harm to human health and pollution to the environment. The recycling and reuse of the abrasive greatly reduces the consumption of the abrasive.
  • the wall-climbing robot 1 based on the wheel structure is flexible in movement, and can realize all-round movement such as forward, backward, and turn on a large curved surface of 20-30 m high like a hull plate, thereby improving production efficiency and accessibility of aerial work. Sex and safety, blasting efficiency, quality and safety, and the height of the work are unmatched by manual blasting. The whole process is energy-saving, environmentally friendly, safe and efficient, and the operation is simple and convenient. Whether from the perspective of economic benefits and social benefits, the device has a very broad application space for shipbuilding, large containers, and electric power stations.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système destiné à éliminer la rouille de la surface d'une coque d'un navire, comprenant : un corps de robot grimpeur de paroi (1); un dispositif de sécurité (13); une sableuse d'élimination de la rouille (2); un compresseur d'air (9); un système de transport de matériau abrasif (8); un système de collecte à pression négative de vide (6); un système de séparation et de recyclage de matériau abrasif (7); et une armoire de commande (10). Le dispositif de sécurité (13) est disposé au niveau d'un corps de navire (14). Le corps de robot grimpeur de paroi (1) est relié au dispositif de sécurité (13). La sableuse d'élimination de la rouille (2) est disposée au niveau du corps de robot grimpeur de paroi (1). Un raccord de tube d'alimentation en sable (28) de la sableuse d'élimination de la rouille (2) communique avec le système de transport de matériau abrasif (8). Un raccord de tube de collecte de sable (29) communique avec le système de collecte à pression négative de vide (6). Le système utilise un robot grimpeur de paroi pour servir d'opérateur pour effectuer une opération de sablage en vue d'éliminer la rouille de structures de grande dimension dans des positions élevées, comme des conteneurs de grande taille, des surfaces de coque de navires et des centrales électriques, et exploite une pression négative de vide pour effectuer la collecte, la séparation, le recyclage et la réutilisation pour ce qui concerne un matériau abrasif, la poussière et la rouille, réduisant de ainsi manière significative les coûts, et augmentant l'efficacité d'élimination de la rouille d'une opération de sablage. L'invention est écologique et économise de l'énergie dans un processus de fonctionnement, elle convient parfaitement à des opérations en hauteur, ne cause sensiblement pas de pollution de l'environnement, et ne nuit pas à la santé.
PCT/CN2016/108853 2016-07-07 2016-12-07 Système pour éliminer la rouille de la surface de la coque d'un navire Ceased WO2018006547A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610532170.3A CN107584424A (zh) 2016-07-07 2016-07-07 用于船体外板的表面除锈系统
CN201610532170.3 2016-07-07

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Publication Number Publication Date
WO2018006547A1 true WO2018006547A1 (fr) 2018-01-11

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CN (1) CN107584424A (fr)
WO (1) WO2018006547A1 (fr)

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