CN107159499A - A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV - Google Patents
A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV Download PDFInfo
- Publication number
- CN107159499A CN107159499A CN201710528318.0A CN201710528318A CN107159499A CN 107159499 A CN107159499 A CN 107159499A CN 201710528318 A CN201710528318 A CN 201710528318A CN 107159499 A CN107159499 A CN 107159499A
- Authority
- CN
- China
- Prior art keywords
- spray gun
- block
- water jet
- rov
- spraygun body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
- B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
- B05B3/10—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements discharging over substantially the whole periphery of the rotating member, i.e. the spraying being effected by centrifugal forces
- B05B3/1035—Driving means; Parts thereof, e.g. turbine, shaft, bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/01—Spray pistols, discharge devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Abstract
Rotary spray gun, including spraygun body are cleared up the invention discloses a kind of high undersea hydrostatic pressures water jet based on ROV, the side of spraygun body is provided with flexible clamping, and the periphery of spraygun body is provided with preventing collision protection cover；Flexible clamping include be fixed in spraygun body clamp standoff block, grip block and clamping casing fixed block, grip and clamp standoff post is housed on block, the front end of clamp standoff post is equipped with mechanical arm grip block, clamp standoff post is mounted in mechanical arm grip block and grips between block, grips the position between block and clamping casing fixed block equipped with clamping buffer spring and clamp standoff post annulus.Addition：Preventing collision protection cover includes clutch disk and lower end support annulus, is connected between clutch disk and lower end support annulus by protective cover pipe and protective cover screw rod, and provided with protection length adjustment pad.Spraygun body includes spray gun, spray gun swivel head and two High pressure water jet nozzles, and spray gun passes sequentially through spray gun gear, travelling gear, motor gear and hydraulic motor and connected.Adapt to Environmental strong, operating efficiency high, it is adaptable to which the underwater structure such as ocean platform jacket, ship housing, bridge pier adheres to the cleaning of marine growth.
Description
Technical field
The present invention relates to a kind of underwater cleaning equipment, more particularly to a kind of high undersea hydrostatic pressures water jet cleaning rotation based on ROV
Turn spray gun.
Background technology
With the continuous exploitation of offshore oil, ocean platform it is increasing, ocean platform is in normal production, and it is in water
Under jacket can be got rusty by the burn into of seawater with substantial amounts of marine organisms attachment cause the weight of support to increase, lead therewith
The bearing capacity of pipe support dies down, and this can produce serious harm to the safety of ocean platform.The cleaning of timing can be significantly with maintenance
Increase ocean platform normal service life.
High pressure water jet is increasingly paid attention to as an emerging technology by people, and it has cleaning, and cost is low, speed
Degree is fast, peace and quiet rate is high, do not damage cleaned material, have a wide range of application, it is free from environmental pollution the features such as, comply fully with ocean platform conduit
The demand of frame cleaning.
The usual only one of which nozzle of conventional clean instrument is, it is necessary to diver's auxiliary operation under water, to personnel's technical requirements
It is big compared with high, hand labor intensity.Sight is not good when hydraulic pressure produces reaction force, the chip of cleaning and residue splashing, cleaning all can
Personnel are produced with certain danger, artificial limitation is too big, causes cleaning speed and efficiency not high.
The content of the invention
Rotary spray gun is cleared up it is an object of the invention to provide a kind of high undersea hydrostatic pressures water jet based on ROV.
The purpose of the present invention is achieved through the following technical solutions：
The cleaning rotary spray gun of the high undersea hydrostatic pressures water jet based on ROV of the present invention, including spraygun body, the spraygun body
Side be provided with flexible clamping, the periphery of the spraygun body is provided with preventing collision protection cover；
The flexible clamping include be fixed in the spraygun body clamp standoff block, grip block and clamping casing
Fixed block, described grip is equipped with clamp standoff post on block, the front end of the clamp standoff post is equipped with mechanical arm grip block, institute
State clamp standoff post mounted in the mechanical arm grip block and it is described grip between block, it is described to grip block and the clamping
Position between casing fixed block is equipped with clamping buffer spring and clamp standoff post annulus.
The support column and its buffer spring are respectively a pair be symmetrically installed.
The spraygun body includes spray gun, spray gun swivel head and High pressure water jet nozzle, and the spray gun passes sequentially through spray gun
Gear, travelling gear, motor gear and hydraulic motor are connected, and the High pressure water jet nozzle has two.The spraygun body is
Hydraulic-driven and hydraulic system power source is provided by ROV, the hydraulic motor passes through oil inlet quantity and controls spray gun rotary speed.
The preventing collision protection cover includes clutch disk and lower end support annulus, and the clutch disk supports annulus with lower end
Between pass through protective cover pipe and protective cover screw rod and connect.The preventing collision protection is covered with protection length adjustment pad.
As seen from the above technical solution provided by the invention, it is provided in an embodiment of the present invention high under water based on ROV
Pressure water jet clears up rotary spray gun, adapts to Environmental strong, operating efficiency high, it is adaptable to ocean platform jacket, ship housing, bridge
The underwater structures such as pier adhere to the cleaning of marine growth.
Brief description of the drawings
Fig. 1 is overall three-dimensional for the high undersea hydrostatic pressures water jet cleaning rotary spray gun provided in an embodiment of the present invention based on ROV
Structural representation.
Fig. 2 is the flexible clamping structural representation in the embodiment of the present invention；
Fig. 3 is the spraygun body structure sectional view in the embodiment of the present invention；
Fig. 4 is the preventing collision protection cover three dimensional structure diagram in the embodiment of the present invention；
Fig. 5 is the High pressure water jet nozzle sectional view in the embodiment of the present invention；
In figure：
1st, flexible clamping；2nd, spraygun body；3rd, preventing collision protection cover；4th, mechanical arm grip block；5th, clamp standoff post；6th, press from both sides
Hold support block；7th, block is gripped；8th, clamp standoff post annulus；9th, buffer spring is clamped；10th, casing fixed block is clamped；11st, liquid
Pressure motor；12nd, motor axle sleeve；13rd, motor gear；14th, motor ring washer；15th, power transmission shaft；16th, travelling gear；17th, travelling gear
Case；18th, bottom end cover；19th, High pressure water jet nozzle；20th, spray gun swivel head；21st, spray gun thrust bearing；22nd, spray gun gear；23、
Spray gun；24th, spray gun axle sleeve；25th, spray gun rolling bearing；26th, upper end cover；27th, Simmer ring；28th, transmission case closure；29th, pass
Moving axis axle sleeve；30th, transmission shaft bearing；31st, it is driven hubcap；32nd, clutch disk；33rd, protective cover pipe；34th, lower end branch is held round
Ring；35th, protective cover screw rod.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The high undersea hydrostatic pressures water jet based on ROV of the present invention clears up rotary spray gun, and its preferably embodiment is：
Including spraygun body, the side of the spraygun body is provided with flexible clamping, and the periphery of the spraygun body is provided with anti-
Crash protection cover；
The flexible clamping include be fixed in the spraygun body clamp standoff block, grip block and clamping casing
Fixed block, described grip is equipped with clamp standoff post on block, the front end of the clamp standoff post is equipped with mechanical arm grip block, institute
State clamp standoff post mounted in the mechanical arm grip block and it is described grip between block, it is described to grip block and the clamping
Position between casing fixed block is equipped with clamping buffer spring and clamp standoff post annulus.
The clamp standoff post and its clamping buffer spring be respectively a pair be symmetrically installed.
The spraygun body includes spray gun, spray gun swivel head and High pressure water jet nozzle, and the spray gun passes sequentially through spray gun
Gear, travelling gear, motor gear and hydraulic motor are connected.
The High pressure water jet nozzle has two.
The spraygun body is provided for hydraulic-driven and hydraulic system power source by ROV, and the hydraulic motor passes through oil-feed
Amount control spray gun rotary speed.
The preventing collision protection cover includes clutch disk and lower end support annulus, and the clutch disk supports annulus with lower end
Between pass through protective cover pipe and protective cover screw rod and connect.
The preventing collision protection is covered with protection length adjustment pad.
The cleaning rotary spray gun of the high undersea hydrostatic pressures water jet based on ROV of the present invention, adapts to Environmental strong, twin-jet nozzle, work
Efficiency high, it is adaptable to which the underwater structure such as ocean platform jacket, ship housing, bridge pier adheres to the cleaning of marine growth.
The present invention is to clamp flexible clamping part by ROV mechanical arms to carry out operational control, and ROV large carrying capacities can be held
Continuous longevity of service, can make the present invention adapt to various operating modes, make its adaptive capacity to environment by the control to ROV mechanical arms
By force.
The damage that collision of the flexible clamping using a pair of clamping buffer springs to reduce ROV is brought to spray gun.
Spraygun body is provided for hydraulic-driven and hydraulic system power source by ROV, and the hydraulic motor can pass through oil-feed
Amount control spray gun rotary speed, makes the present invention to work under water and without finding power source in addition, so as to reduce operation carrying
Device, can adjust rotary speed for different operating modes can maximize efficiency.
Described fluid power system uses two-stage gear reduction, makes spray gun stabilization of speed, it is ensured that cleaning quality.
Spraygun body uses twin-jet nozzle, and the spray regime of the High pressure water jet nozzle can be by changing the three of different angles
Port valve is adjusted, and so only needs the different operating mode of modularized design, and is assembled from different modules.
Preventing collision protection cover can adjust the length of protection with suitable for different calibers by increasing pad.
Specific embodiment：
As shown in Figures 1 to 5, including flexible clamping 1, spraygun body 2, preventing collision protection cover 3.
The flexible clamping 1 include mechanical arm grip block 4, clamp standoff post 5, clamp standoff block 6, grip block 7, folder
Hold support column annulus 8, clamping buffer spring 9, clamping casing fixed block 10.
The present invention is to clamp flexible clamping part by ROV mechanical arms to carry out operational control, and ROV large carrying capacities can be held
Continuous longevity of service, can make the present invention adapt to gram various operating modes, its environment is adapted to energy by the control to ROV mechanical arms
Power is strong.
The damage that collision of the flexible clamping 1 using a pair of clamping buffer springs 9 to reduce ROV is brought to spray gun.
Spraygun body 2 includes hydraulic motor 11, motor axle sleeve 12, motor gear 13, motor ring washer 14, power transmission shaft 15, biography
Moving gear 16, uni-drive gear box 17, bottom end cover 18, High pressure water jet nozzle 19, spray gun swivel head 20, spray gun thrust bearing 21,
Spray gun gear 22, spray gun 23, spray gun axle sleeve 24, spray gun rolling bearing 25, upper end cover 26, Simmer ring 27, transmission case closure
28th, propeller shaft tube 29, transmission shaft bearing 30, transmission hubcap 31.
Spraygun body 2 is provided for hydraulic-driven and hydraulic system power source by ROV, and the hydraulic motor 11 can be by entering
Fuel-flow control spray gun rotary speed, makes the present invention to work under water and reduces operation carrying dress without finding power source in addition
Put, can adjust rotary speed for different operating modes can maximize efficiency.
Described fluid power system uses two-stage gear reduction, makes spray gun stabilization of speed, it is ensured that cleaning quality.
Spraygun body 2 uses twin-jet nozzle, and the spray regime of the High pressure water jet nozzle 32 can be by changing different angles
Threeway valve regulation, so only need the different operating mode of modularized design and assembled from different modules.
Preventing collision protection cover 3 includes clutch disk 32, protective cover pipe 33, lower end support annulus 34, protective cover screw rod 35.
Preventing collision protection cover 3 can adjust the length of protection with suitable for different calibers by increasing pad.
The installation process of the accompanying drawings below detailed annotation present invention：
Flexible clamping installation process：A pair of clamp standoff post annulus 8 are respectively fitted on a pair of clamp standoff posts 5 and passed through
MIG weldering connections, grip block 7 for a pair and are individually placed to weld upper end, 4 sets of a pair of clamp standoff posts 5 and mechanical arm grip block
Cylinder gap, and it is connected through a screw thread fastening；A pair of clamping casing fixed blocks 10, which are located at, to be gripped the inner side of block 7 with a pair and passes through
Threaded connection is fixed, and a pair of clamping buffer springs 9 coordinate with a pair of gaps of clamp standoff post 5 respectively, and justify with clamp standoff post
Ring 8 is contacted, and is gripped block 7 for a pair and is carried out threaded connection fastening with a pair of clamping casing fixed blocks 10 respectively, now clamps slow
Rush spring 9 and be in deflated state, clamp standoff block 6 is located at directly over a pair of clamping casing fixed blocks 10 and is connected through a screw thread solid
It is fixed.
Spraygun body installation process：Hydraulic motor 11 is matched somebody with somebody with the upper surface gap of transmission case closure 28 and merged, and passes through spiral shell
Line connection fastening, motor axle sleeve 12 is fixed with the main shaft adopting conical surface interference of hydraulic motor 11, the upper surface of motor gear 13 and motor axle sleeve
12 lower ends are close to, and the lower surface of motor gear 13 is close to the upper surface of motor back-up ring 14, the upper surface of motor back-up ring 14 and hydraulic motor
11 main shaft lower surfaces are close to, and are connected fastening with the main shaft of hydraulic motor 11 by screw thread；Hubcap 31 is driven to seal with transmission case
The upper gap of lid 28 coordinates, and is connected by screw threads for fastening, and upper transmission shaft bearing 30 is matched somebody with somebody with the lower gap of transmission case closure 28
Close, power transmission shaft 15 coordinates with the gap of transmission shaft bearing 30, propeller shaft tube 29 coordinates with the gap of power transmission shaft 15, propeller shaft tube 29
Upper surface is fitted with the upper lower surface of transmission shaft bearing 30, and travelling gear 16 is connected biography with the gap of power transmission shaft 15 with merga pass key
Dynamic, the upper surface of travelling gear 16 is fitted with the lower surface of propeller shaft tube 29, on the lower surface of travelling gear 16 and the between centers of power transmission shaft 15
End face is fitted.Three Simmer rings 27 are sequentially inserted into the specified gap of upper end cover 26, upper end cover 26 and upper spray gun rolling bearing 25
Gap coordinates, and upper spray gun rolling bearing 25 coordinates with the gap of transmission case closure 28 simultaneously, upper end cover 26 and transmission case closure
28 are close to by screw thread and connect fastening, and spray gun axle sleeve 24 coordinates with the gap of spray gun 33, and the upper surface of spray gun axle sleeve 24 is rolled with upper spray gun
The lower surface of bearing 25 is fitted, and the lower surface of spray gun axle sleeve 24 is fitted with the between centers upper surface of spray gun 33, the upper surface of spray gun 33 and upper end cover
26 inside top surfaces are fitted, and are coordinated by upper spray gun rolling bearing 25 and the gap of upper end cover 26, and spray gun 33 drives spray gun by key
Gear 22 is driven, and spray gun thrust bearing 21 coordinates with the gap of spray gun 33, under the upper surface of spray gun thrust bearing 21 and the between centers of spray gun 33
End face is fitted.Uni-drive gear box 17 and lower drive shaft bearing 30, spray gun thrust bearing 21, lower spray gun rolling bearing 25, spray gun 33
Gap coordinates；Power transmission shaft 15 coordinates with the gap of lower drive shaft bearing 30 simultaneously, and spray gun 33 is rolled with spray gun thrust bearing 21, spray gun
The gap of bearing 25 coordinates.Transmission case closure 28 and uni-drive gear box 17 are connected through a screw thread fastening.Bottom end cover 18 and lower spray gun
The gap of rolling bearing 25 coordinates, and the upper surface of bottom end cover 18 is fitted with the lower surface of uni-drive gear box 17, and is connected through a screw thread fastening.
Spray gun protective cover installation process：The lower surface of bottom end cover 18 is fitted with the upper surface of clutch disk 32, and is connected by screw thread
Fastening is connect, protective cover pipe 33 coordinates with the gap of protective cover screw rod 35, and is connected through a screw thread and clutch disk 32 and lower end branch
Hold round the connection fastening of ring 34.Spray gun swivel head 30 is connected through a screw thread fastening with spray gun 29, and is lined with sealing ring sealing, water under high pressure
Jet nozzle 31 is connected through a screw thread fastening with spray gun swivel head, and is lined with sealing ring sealing.
General assembly process：Flexible clamping 1, spraygun body 2, preventing collision protection cover 3 are finally connected through a screw thread fastening, installed
Complete.
Operation principle:One aspect of the present invention provides power by ROV (remote-controlled vehicle) to hydraulic motor, is subtracted by two grades
Fast gear drives spray gun rotation；Water is pressurizeed and injected by the water pipe on the other hand connecting high-voltage generator by upper end cover, is led to
Cross spray gun to enter in spray gun swivel head, then be diverted to two High pressure water jet nozzles.High pressure water jet nozzle does steady circular's fortune
Move and project high-pressure water jet, cleaning is carried out finally by the manipulation of ROV mechanical arms.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (7)
1. a kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV, it is characterised in that described including spraygun body (2)
The side of spraygun body (2) is provided with flexible clamping (1), and the periphery of the spraygun body (2) is provided with preventing collision protection cover (3)；
The flexible clamping (1) include be fixed in the spraygun body (2) clamp standoff block (6), grip block (7) and
Casing fixed block (10) is clamped, described grip is equipped with before clamp standoff post (5), the clamp standoff post (5) on block (7)
End is equipped with mechanical arm grip block (4), and the clamp standoff post (5) is mounted in the mechanical arm grip block (4) and described grips
Between block (7), the position gripped between block (7) and the clamping casing fixed block (10) is equipped with clamping buffer spring
And clamp standoff post annulus (8) (9).
2. the high undersea hydrostatic pressures water jet cleaning rotary spray gun according to claim 1 based on ROV, it is characterised in that described
Clamp standoff post (5) and its clamping buffer spring (9) be respectively a pair be symmetrically installed.
3. the high undersea hydrostatic pressures water jet cleaning rotary spray gun according to claim 1 based on ROV, it is characterised in that described
Spraygun body (2) includes spray gun (23), spray gun swivel head (20) and High pressure water jet nozzle (19), and the spray gun (23) is led to successively
Spray gun gear (22), travelling gear (16), motor gear (13) is crossed to be connected with hydraulic motor (11).
4. the high undersea hydrostatic pressures water jet cleaning rotary spray gun according to claim 3 based on ROV, it is characterised in that described
High pressure water jet nozzle (32) has two.
5. the high undersea hydrostatic pressures water jet cleaning rotary spray gun according to claim 3 based on ROV, it is characterised in that described
Spraygun body (2) is provided for hydraulic-driven and hydraulic system power source by ROV, and the hydraulic motor (11) passes through oil inlet quantity control
Spray gun rotary speed.
6. the high undersea hydrostatic pressures water jet cleaning rotary spray gun according to claim 1 based on ROV, it is characterised in that described
Preventing collision protection cover (3) includes clutch disk (32) and lower end support annulus (34), and the clutch disk (32) supports with lower end
Connected between annulus (34) by protective cover pipe (33) and protective cover screw rod (35).
7. the high undersea hydrostatic pressures water jet cleaning rotary spray gun according to claim 6 based on ROV, it is characterised in that described
Preventing collision protection cover (3) is provided with protection length adjustment pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710528318.0A CN107159499A (en) | 2017-07-01 | 2017-07-01 | A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710528318.0A CN107159499A (en) | 2017-07-01 | 2017-07-01 | A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107159499A true CN107159499A (en) | 2017-09-15 |
Family
ID=59826703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710528318.0A Pending CN107159499A (en) | 2017-07-01 | 2017-07-01 | A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107159499A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110252750A (en) * | 2019-06-12 | 2019-09-20 | 海洋石油工程股份有限公司 | A kind of equipment applied to deep-sea oil gas pipeline cleaning operation |
| CN113560254A (en) * | 2021-07-23 | 2021-10-29 | 周城宇 | Ocean engineering platform cleaning method |
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| US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
| CN101430176A (en) * | 2008-11-25 | 2009-05-13 | 湖南大学 | Intelligent movable cleaning robot for condenser |
| CN104968563A (en) * | 2012-12-11 | 2015-10-07 | C-林西普有限公司 | A submergible cleaning system |
| CN105035283A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Water jetting washing device and ship wall rust removing wall-climbing robot |
| CN106862193A (en) * | 2017-03-02 | 2017-06-20 | 东莞市绿荫家电专用清洗机有限公司 | A kind of eliminating sludge in pipe car |
| CN207025680U (en) * | 2017-07-01 | 2018-02-23 | 北京石油化工学院 | A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV |
-
2017
- 2017-07-01 CN CN201710528318.0A patent/CN107159499A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
| CN101430176A (en) * | 2008-11-25 | 2009-05-13 | 湖南大学 | Intelligent movable cleaning robot for condenser |
| CN104968563A (en) * | 2012-12-11 | 2015-10-07 | C-林西普有限公司 | A submergible cleaning system |
| CN105035283A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Water jetting washing device and ship wall rust removing wall-climbing robot |
| CN106862193A (en) * | 2017-03-02 | 2017-06-20 | 东莞市绿荫家电专用清洗机有限公司 | A kind of eliminating sludge in pipe car |
| CN207025680U (en) * | 2017-07-01 | 2018-02-23 | 北京石油化工学院 | A kind of high undersea hydrostatic pressures water jet cleaning rotary spray gun based on ROV |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110252750A (en) * | 2019-06-12 | 2019-09-20 | 海洋石油工程股份有限公司 | A kind of equipment applied to deep-sea oil gas pipeline cleaning operation |
| CN113560254A (en) * | 2021-07-23 | 2021-10-29 | 周城宇 | Ocean engineering platform cleaning method |
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