CN107472479A - Underwater steel construction surface marine growth cleaning robot - Google Patents
Underwater steel construction surface marine growth cleaning robot Download PDFInfo
- Publication number
- CN107472479A CN107472479A CN201610408757.3A CN201610408757A CN107472479A CN 107472479 A CN107472479 A CN 107472479A CN 201610408757 A CN201610408757 A CN 201610408757A CN 107472479 A CN107472479 A CN 107472479A
- Authority
- CN
- China
- Prior art keywords
- steering
- fixedly connected
- motor
- underwater
- magnet
- 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.)
- Granted
Links
Classifications
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The present invention provides a kind of underwater steel construction surface marine growth cleaning robot, including：Steering spindle bearing, steering spindle, support frame, steering driving mechanism, the first drive wheel group, first support, Cleaning Technology Based On Cavitation Water Jet module, connecting shaft, axle sleeve, second support, the second drive wheel group, the first underwater camera and the second underwater camera；For the present invention by the way of wheeled 4 wheel driven, motion is more flexible；Connecting shaft can freely rotate relative to axle sleeve so that marine growth cleaning robot four magnet-wheels in out-of-flatness apparent motion in underwater steel construction surface of the invention all contact with steel structure surface, ensure that metastable absorption affinity and certain obstacle climbing ability；Using cavitating water jet manner of cleaning up, have and higher cleaning efficiency is cleared up than tradition machinery, while more saved than high-pressure water jet；Robot front, rear and the image for clearing up side, control mode simple, intuitive can be obtained in real time by the first underwater camera and the second underwater camera.
Description
Technical field
The present invention relates to the technical field that ship and offshore platform marine growth are cleared up, more particularly to a kind of underwater steel construction table
Face marine growth cleaning robot.
Background technology
With the emergence of marine economy, underwater operation amount will become increasingly complex, more and more heavier.Bottom of ship, marine drilling are put down
The underwater platforms such as platform pipeline easily adhere to marine growth, it usually needs diver carries out periodic cleaning.Thus the problem of bringing is also very aobvious
Write：The personal safety of diver cannot ensure that the working time is had a great influence by sea situation, and operating efficiency is low etc..
Early in last century Mo, just there are many research institutions to start to be designed with the mobile platform of wall climbing function, be mainly used in clearing up
The marine growth of bottom of ship.But the underwater cleaning platform of early stage is not turned into industry completely without people, it is still necessary to which diver is hand-held to be cleaned with water
Water operation under device, using brush rotate caused by negative pressure be allowed to be close to hull, by diver promote its travel forward i.e. can be achieved
Clean operation with water.In underwater operation process, a diver is mostly at least needed to operate brush device for cleaning under water.
To solve the above problems, the applying date is on December 21st, 2005, what the patent of application number 200510127370.2 was related to
" permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing ", the absorption of the robot and walking function come from double bar crawler belts,
Robot is cleared up hull surface using three carried on body in the Telescopic rotary brush of isosceles triangle distribution.But carry out
There is the shortcomings that structure bulky, steering flexibility difference in the type of drive of belt, while may using the mechanical chipping mode of rotating brush
Hull surface can be damaged.
The applying date is on June 19th, 2014, the patent of application number 201420330136.4 be related to " one kind is applied to jacket
The robot mechanism of marine growth cleaning ", the encircling type claw of the robot encircle jacket by driving the screw rod of bridging to realize
Column, cleared up using water under high pressure column marine growth, meanwhile, control terminal cancels the suction of sucker, by encircling type claw
On top high pressure nozzle and bottom high pressure nozzle water under high pressure control machine people movement.But the robot is only used for cylinder
The removing surface of structure, limitation are larger.
The content of the invention
In view of the above the shortcomings that prior art, the present invention provides a kind of underwater steel construction surface marine growth cleaning robot, institute
Stating underwater steel construction surface marine growth cleaning robot can creep on the steel structure surface of different curvature under water, have necessarily
Obstacle climbing ability, while carry efficient cleaning of the Cleaning Technology Based On Cavitation Water Jet module realization to steel structure surface marine growth.
In order to achieve the above objects and other related objects, the present invention provides a kind of underwater steel construction surface marine growth cleaning robot,
Underwater steel construction surface marine growth cleaning robot includes：Steering spindle bearing, steering spindle, support frame, steering driving mechanism,
First drive wheel group, first support, Cleaning Technology Based On Cavitation Water Jet module, connecting shaft, axle sleeve, second support, the second drive wheel group,
First underwater camera and the second underwater camera；
The steering bearing cover for seat be placed in the periphery of the steering spindle, the steering spindle bearing and the steering driving mechanism with it is described
Support frame is fixedly connected；The steering spindle is fixedly connected with the steering driving mechanism；
Described first support one end is fixedly connected with the steering spindle, and the other end is hinged with first drive wheel group；
The Cleaning Technology Based On Cavitation Water Jet module is fixedly connected with support frame as described above, and positioned at the side of support frame as described above；
Described connecting shaft one end is fixedly connected with support frame as described above, and the other end is hinged with the axle sleeve；
Described second support one end is fixedly connected with the one end of the axle sleeve away from the connecting shaft, the other end and the described second driving
Wheel group is hinged；
First underwater camera is fixedly connected with support frame as described above, and positioned at the front of the Cleaning Technology Based On Cavitation Water Jet module；
Second underwater camera is fixedly connected with the second support；First underwater camera and second underwater camera
It is located at the same side of support frame as described above with the Cleaning Technology Based On Cavitation Water Jet module.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the steering spindle bearing passes through
Deep groove ball bearing supports the steering spindle.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the underwater steel construction surface
Marine growth cleaning robot also includes the first underwater camera head bracket and the second underwater camera head bracket；First underwater camera
It is fixedly connected via the first underwater camera head bracket with support frame as described above, second underwater camera is via second water
Lower camera bracket is fixedly connected with the second support.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the steering driving mechanism bag
Include：Decelerator, steering driving shaft, first connecting rod, second connecting rod, steering driving mechanism cover plate, third connecting rod, steering motor
Annular seal space, steering motor, turn to shaft coupling, steering driving mechanism bearing block and fourth link；
The steering driving mechanism cover plate is located above the steering motor annular seal space, and is fixedly connected with support frame as described above；
The steering driving mechanism bearing block is fixed between the steering driving mechanism cover plate and the steering motor annular seal space, and
Extend to the inner space that the steering driving mechanism cover plate is formed with the steering motor annular seal space；
The steering motor is located in the steering motor annular seal space, and positioned at the lower section of the steering driving mechanism bearing block, institute
Decelerator is stated to be located in the steering driving mechanism cover plate, and positioned at the top of the steering driving mechanism bearing block；The steering
Motor and the decelerator are fixedly connected with the steering driving mechanism bearing block；The drive shaft of the steering motor is described in
Steering driving mechanism bearing block is fixedly connected by turning to shaft coupling with the input of the decelerator；The output end of the decelerator
It is fixedly connected with the steering driving shaft；
The steering driving shaft is fixedly connected through the steering driving mechanism cover plate with the first connecting rod；
Described first connecting rod one end and the first end of the second connecting rod are hinged, and the first end of the other end and fourth link is hinged；
The third connecting rod is fixedly connected with the steering spindle, and one end of the third connecting rod and the second end of the second connecting rod
Be hinged, the other end and the second end of the fourth link are hinged.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the steering driving mechanism axle
Bearing supports the steering shaft coupling by deep groove ball bearing.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the steering driving mechanism axle
O-shaped sealing is equipped between bearing and the steering driving shaft, the steering driving mechanism cover plate and the steering motor annular seal space
Circle.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the first support and described
Second support includes：Rack shaft holder, connecting plate and support base；
The connecting plate of the first support is fixedly connected with the steering spindle, the connecting plate of the second support with it is described
The one end of axle sleeve away from the connecting shaft is fixedly connected；
The rack shaft holder and the support base are located at the both sides of first drive wheel group and second drive wheel group respectively,
And the both ends with the connecting plate are fixedly connected respectively.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, first drive wheel group and
Second drive wheel group includes：First magnet-wheel, connecting cylinder, the second magnet-wheel, motor, drive wheel group shaft coupling, drive
Follower link, motor cover plate, motor annular seal space and seal cover board；
First magnet-wheel is fixedly connected with second magnet-wheel by the connecting cylinder；
The first end of the motor annular seal space passes perpendicularly through the support base, first magnet-wheel and second magnet-wheel, and
The seal cover board is fixedly connected with support base；
The motor cover plate is covered in the first end of the motor annular seal space；
The motor is located in the motor annular seal space, and is fixedly connected with the motor annular seal space；The drive
The output shaft of dynamic motor is fixed through the first end of the motor annular seal space and the motor cover plate, and with the driving
Wheel group shaft coupling is fixedly connected；
The drive connection part is located on the outside of the motor cover plate, and with the drive wheel group shaft coupling and first magnet-wheel
It is fixedly connected；
The seal cover board covers and is fixed on the second end of the motor annular seal space.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the rack shaft holder passes through
Deep groove ball bearing supports the drive wheel group shaft coupling；The motor annular seal space supports first magnetic by deep groove ball bearing
Wheel and second magnet-wheel.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the motor annular seal space
Between the seal cover board and the motor cover plate and between the motor cover plate and the drive wheel group shaft coupling
Provided with O-ring seal.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, first magnet-wheel and described
Second magnet-wheel includes：Wheel hub, the first magnetic conductive board, the second magnetic conductive board, magnet ring and rubber ring；
The magnet ring is placed on the periphery of the wheel hub, and the inner side of the magnet ring on the outside of the wheel hub with being fixedly connected；
First magnetic conductive board and second magnetic conductive board adhere on two end faces of the magnet ring, and two with the wheel hub
End face is fixedly connected；
The rubber ring is fixedly connected with the outside of first magnetic conductive board, second magnetic conductive board and the magnet ring respectively.
As a kind of preferred scheme of the underwater steel construction surface marine growth cleaning robot of the present invention, the Cleaning Technology Based On Cavitation Water Jet
Module includes：First jet, second nozzle, valve block and valve block connector；
The valve block is fixedly connected by the valve block connector with support frame as described above；
The first jet and the second nozzle are fixedly connected with the valve block.
As described above, the underwater steel construction surface marine growth cleaning robot of the present invention, has the advantages that：
1. by the way of wheeled 4 wheel driven, motion is more flexible；
2. connecting shaft can freely rotate relative to axle sleeve so that underwater steel construction surface marine growth of the invention clears up robot not
Four magnet-wheels all contact with steel structure surface when flat surface moves, and ensure that metastable absorption affinity and certain obstacle climbing ability；
3. using cavitating water jet manner of cleaning up, have and higher cleaning efficiency is cleared up than tradition machinery, while compare high-pressure water jet
More save；
4. robot front, rear and cleaning side can be obtained in real time by the first underwater camera and the second underwater camera
Image, operating personnel can adjust the motion of robot, control mode simple, intuitive as driving.
Brief description of the drawings
Fig. 1 is shown as the overall structure diagram of the underwater steel construction surface marine growth cleaning robot of the present invention.
Fig. 2 is shown as steering spindle, steering spindle bearing in the underwater steel construction surface marine growth cleaning robot of the present invention, turns to and drive
The cross-sectional view of motivation structure and support frame.
Fig. 3 is shown as Fig. 2 top view.
Fig. 4 is shown as in the underwater steel construction surface marine growth cleaning robot of the present invention the first drive wheel group and first support or the
The cross-sectional view of two drive wheel groups and second support.
Fig. 5 is shown as the section knot of the first magnet-wheel or the second magnet-wheel in the underwater steel construction surface marine growth cleaning robot of the present invention
Structure schematic diagram.
The structure that Fig. 6 is shown as the underwater steel construction surface marine growth cleaning robot cavitation water jet cleaning module of the present invention is shown
It is intended to.
Fig. 7 and Fig. 8 is shown as underwater steel construction surface marine growth cleaning robot the showing in out-of-flatness apparent motion of the present invention
It is intended to.
Component label instructions
1 first underwater camera
2 first underwater camera head brackets
3 steering spindles
4 support frames
5 steering driving mechanisms
6 second underwater camera head brackets
7 second underwater cameras
8 first drive wheel groups
9 first supports
10 Cleaning Technology Based On Cavitation Water Jet modules
11 connecting shafts
12 axle sleeves
13 second supports
14 second drive wheel groups
15 first axles
16 second axis
17 steering spindle bearings
18 decelerators
19 steering driving shafts
20 first connecting rods
21 second connecting rods
22 steering driving mechanism cover plates
23 third connecting rods
24 steering motor annular seal spaces
25 steering motors
26 turn to shaft coupling
27 steering driving mechanism bearing blocks
28 fourth links
29 rack shaft holders
30 connecting plates
31 first magnet-wheels
32 connecting cylinders
33 second magnet-wheels
34 motors
35 drive wheel group shaft couplings
36 drive connection parts
37 motor cover plates
38 motor annular seal spaces
39 support bases
40 seal cover boards
41 wheel hubs
42 first magnetic conductive boards
43 second magnetic conductive boards
44 magnet rings
45 rubber rings
46 first jets
47 second nozzles
48 valve blocks
49 valve block connectors
50 out-of-flatness surfaces
51 pits
52 is raised
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be as disclosed by this specification
Content understand easily the present invention other advantages and effect.The present invention can also add by way of a different and different embodiment
To implement or apply, the various details in this specification can also be based on different viewpoints and application, in the essence without departing from the present invention
God is lower to carry out various modifications or alterations.
Fig. 1 is referred to Fig. 8.It should be noted that only explanation is of the invention in a schematic way for the diagram provided in the present embodiment
Basic conception, though only display is with relevant component in the present invention rather than according to component count during actual implement, shape in diagram
And size is drawn, kenel, quantity and the ratio of each component can be a kind of random change during its actual implementation, and its assembly layout
Kenel may also be increasingly complex.
Referring to Fig. 1, the present invention provides a kind of underwater steel construction surface marine growth cleaning robot, the underwater steel construction surface
Marine growth cleaning robot includes：Steering spindle bearing 17, steering spindle 3, support frame 4, steering driving mechanism 5, the first driving wheel
Group 8, first support 9, Cleaning Technology Based On Cavitation Water Jet module 10, connecting shaft 11, axle sleeve 12, second support 13, the second driving wheel
The 14, first underwater camera 1 of group and the second underwater camera 7；The steering spindle bearing 17 is placed on the outer of the steering spindle 3
Enclose, the steering spindle bearing 17 and the steering driving mechanism 5 are fixedly connected with support frame as described above 4；The steering spindle 3 and institute
Steering driving mechanism 5 is stated to be fixedly connected；Described one end of first support 9 is fixedly connected with the steering spindle 3, the other end with it is described
First drive wheel group 8 is be hinged, the steering spindle 3 can under the driving of the steering driving mechanism 5 relatively described steering bearing
Seat 17 rotates around second axis 16；First drive wheel group 8 can be around the axis relatively described first of first drive wheel group
Support 9 carries out controlled rotation；The Cleaning Technology Based On Cavitation Water Jet module 10 is fixedly connected with support frame as described above 4, and is located at the branch
The side of support 4 so that empty verbiage water jet caused by the Cleaning Technology Based On Cavitation Water Jet module 10 can clear up the underwater steel construction
The region of surface marine growth cleaning robot side one fixed width scope；Described one end of connecting shaft 11 is fixed with support frame as described above 4 to be connected
Connect, the other end is be hinged with the axle sleeve 12 so that the axle sleeve 12 can be around the relatively described connecting shaft 11 of first axle 15 certainly
By rotating；Described one end of second support 13 is fixedly connected with the one end of the axle sleeve 12 away from the connecting shaft 11, the other end with
Second drive wheel group 14 is be hinged so that second drive wheel group 14 can be around the axis phase of second drive wheel group 14
Controlled rotation is carried out to the second support 13；First underwater camera 1 is fixedly connected with support frame as described above 4, and is located at
The front of the Cleaning Technology Based On Cavitation Water Jet module 10；Second underwater camera 7 is fixedly connected with the second support 13；
First underwater camera 1 and second underwater camera 7 are located at the support with the Cleaning Technology Based On Cavitation Water Jet module 10
The same side of frame 4, first underwater camera 1 and second underwater camera 7 can tilt down certain angle,
Can also adjustment angle as needed so that first underwater camera 1 can obtain underwater steel construction surface marine growth
Clearing up steel structure surface and the image in front region for clearance, second underwater camera 7 in front of robot can obtain described
The image of underwater steel construction surface marine growth cleaning robot rear steel structure surface and rear cleaning area.
As an example, the first axle 15 is mutually perpendicular to the second axis 16 and is generally aligned in the same plane interior；Described first
The axis of drive wheel group 8 is vertical with the first axle 15 and the second axis 16 respectively, and through the first axle with
The intersection point of the second axis；The axis of second drive wheel group 14 and the diameter parallel of first drive wheel group 8, and with
The first axle 15 is intersecting.
As an example, the steering spindle bearing 17 supports the steering spindle 3 by deep groove ball bearing (not shown).
As an example, underwater steel construction surface marine growth cleaning robot also includes the first underwater camera head bracket 2 and second
Underwater camera head bracket 6；First underwater camera 1 is via the first underwater camera head bracket 2 and support frame as described above 4
It is fixedly connected, second underwater camera 7 is fixed via the second underwater camera head bracket 6 and the second support 13 to be connected
Connect.
As an example, referring to Fig. 2 and Fig. 3 incorporated by reference to Fig. 1, the steering driving mechanism includes：Slow down, 18, steering driving shaft
19th, first connecting rod 20, second connecting rod 21, steering driving mechanism cover plate 22, third connecting rod 23, steering motor annular seal space 24,
Steering motor 25, turn to shaft coupling 26, steering driving mechanism bearing block 27 and fourth link 28；The steering driving mechanism lid
Plate 22 is fixedly connected positioned at the top of steering motor annular seal space 24 with support frame as described above 4；The steering driving mechanism axle
Bearing 27 is fixed between the steering driving mechanism cover plate 22 and the steering motor annular seal space 24, and extends to the steering
The inner space that drive mechanism cover plate 22 is formed with the steering motor annular seal space 24；The steering motor 25 is located at the steering
In motor seal chamber 24, and it is located at the steering positioned at the lower section of the steering driving mechanism bearing block 27, the decelerator 18
In drive mechanism cover plate 22, and positioned at the top of the steering driving mechanism bearing block 27；The steering motor 25 and described subtract
Fast device 18 is fixedly connected with the steering driving mechanism bearing block 27；The drive shaft of the steering motor 25 passes through the steering
Drive mechanism bearing block 27 is fixedly connected by turning to shaft coupling 26 with the input of the decelerator 18；The decelerator 18
Output end be fixedly connected with the steering driving shaft 19；The steering driving shaft 19 passes through the steering driving mechanism cover plate 22
It is fixedly connected with the first connecting rod 20；Described one end of first connecting rod 20 and the first end of the second connecting rod 21 are hinged, another
The first end with fourth link 28 is held to be hinged, the third connecting rod 23 is fixedly connected with the steering spindle 3, and the described 3rd connects
One end of bar 23 and the second end of the second connecting rod 21 are hinged, and the other end and the second end of the fourth link 28 are hinged, and are made
Obtain the first connecting rod 20, the second connecting rod 21, the third connecting rod 23 and the fourth link 28 and form parallelogram
Transmission mechanism.
As an example, the steering motor 25 is preferably disc type electric machine, the decelerator 18 is preferably harmonic speed reducer.
As an example, the steering driving mechanism bearing block 27 supports the steering shaft coupling by deep groove ball bearing (not shown)
26 so that the steering motor 25 can drive the relatively described steering spindle bearing 27 of the steering spindle 23 around the second axis
16 rotate.
As an example, the steering driving mechanism bearing block 27 and the steering driving shaft 19, the steering driving mechanism cover plate
O-ring seal (not shown) is equipped between 22 and the steering motor annular seal space 24, so as to prevent water from entering the steering electricity
The inside of machine annular seal space 24.
As an example, referring to Fig. 4 incorporated by reference to Fig. 1, the first support 9 and the second support 13 include：Bracket bearing
Seat 29, connecting plate 30 and support base 39；The connecting plate 30 of the first support 9 is fixedly connected with the steering spindle 3,
The connecting plate 30 of the second support 13 is fixedly connected with the one end of the axle sleeve 12 away from the connecting shaft 11；It is described
Rack shaft holder 29 and the support base 39 are located at the both sides of first drive wheel group 8 and second drive wheel group 14 respectively,
And the both ends with the connecting plate 30 are fixedly connected respectively.
As an example, first drive wheel group 8 and second drive wheel group 14 include：First magnet-wheel 31, connecting cylinder
32nd, the second magnet-wheel 33, motor 34, drive wheel group shaft coupling 35, drive connection part 36, motor cover plate 37, drive
Dynamic motor seal chamber 38 and seal cover board 40；First magnet-wheel 31 is solid by the connecting cylinder 32 with second magnet-wheel 33
The external diameter of fixed connection, first magnet-wheel 31 and second magnet-wheel 33 is equal；The first end of the motor annular seal space 38
The support base 39, first magnet-wheel 31 are passed perpendicularly through along the common axis of first magnet-wheel 31 and second magnet-wheel 32
And second magnet-wheel 33, and the seal cover board 40 is fixedly connected with support base 39；The motor cover plate 37 covers
In the first end of the motor annular seal space 38；The motor 34 is located in the motor annular seal space 38, and with
The motor annular seal space 38 is fixedly connected；The output shaft of the motor 34 passes through the motor annular seal space 38
First end and the motor cover plate 37 are fixed, and are fixedly connected with the drive wheel group shaft coupling 35；The motor
The axis of 34 output shaft overlaps with the common axis of first magnet-wheel 31 and second magnet-wheel 33, so that the drive
Dynamic motor 34 can drive first magnet-wheel 31 and second magnet-wheel 33 around first magnet-wheel 31 and second magnet-wheel
33 common axis rotates relative to the motor annular seal space 38；The drive connection part 36 is located at the motor cover plate
37 outsides, and be fixedly connected with the drive wheel group shaft coupling 35 and first magnet-wheel 31；The seal cover board 40 covers
And it is fixed on the second end of the motor annular seal space 38.
As an example, the common axis point of first magnet-wheel 31 and second magnet-wheel 33 in first drive wheel group 8
It is not vertical with the first axle 15 and the second axis 16, and pass through the first axle 15 and the second axis 16
Intersection point；The common axis of first magnet-wheel 31 and second magnet-wheel 33 in second drive wheel group 14 and described the
The parallelism of common axes of first magnet-wheel 31 and second magnet-wheel 33 in one drive wheel group 8, and with the first axle
15 is intersecting.
As an example, the motor 34 is preferably DC servo motor.
As an example, the rack shaft holder 29 supports the drive wheel group shaft coupling 35 by deep groove ball bearing (not shown)；
The motor annular seal space 38 supports first magnet-wheel 31 and second magnet-wheel 33 by deep groove ball bearing (not shown).
As an example, it is provided between the motor annular seal space 38 and the seal cover board 40 and the motor cover plate 37
O-ring seal, O-ring seal (not shown) is provided between the motor cover plate 37 and the drive wheel group shaft coupling 35,
So as to prevent water from entering the inside of the motor annular seal space 38.
As an example, referring to Fig. 5, first magnet-wheel 31 and second magnet-wheel 33 include：Wheel hub 41, first are led
Magnetic sheet 42, the second magnetic conductive board 43, magnet ring 44 and rubber ring 45；The magnet ring 44 is placed on the periphery of the wheel hub 41, and
The inner side of the magnet ring 44 is fixedly connected with the outside of the wheel hub 41；First magnetic conductive board 42 and second magnetic conductive board
43 adhere on two end faces of the magnet ring 44, and are fixedly connected with two end faces of the wheel hub 41, the magnet ring 44
Two end faces be close to first magnetic conductive board 42 and second magnetic conductive board 43 respectively so that first magnet-wheel 31 and
Second magnet-wheel 33 can produce stronger absorption affinity；The rubber ring 45 respectively with first magnetic conductive board 42, described
The outside of two magnetic conductive boards 43 and the magnet ring 44 is fixedly connected, so as to lift first magnet-wheel 31 and second magnet-wheel 33
Friction factor between steel structure surface.
As an example, the material of the magnet ring 44 is preferably ferro-aluminum boron material, first magnetic conductive board 42 and second magnetic conduction
The material of plate 43 is preferably martensite stainless steel material.
As an example, referring to Fig. 6, the Cleaning Technology Based On Cavitation Water Jet module 10 includes：First jet 46, second nozzle 47,
Valve block 48 and valve block connector 49；The valve block 48 is fixedly connected by the valve block connector 49 with support frame as described above 4；
The first jet 46 and the second nozzle 47 are fixedly connected with the valve block 48.Meanwhile the valve block 48 passes through one
High-pressure water pipe (not shown) is connected with watering, and when the valve block 48 is opened, water under high pressure is flowed into by the high-pressure water pipe
The valve block 48, and sprayed from the first jet 46 and the second nozzle 47, cavitation phenomenon is produced under the conditions of flooding,
So as to realize efficiently cleaning to the region of one fixed width scope on the outside of underwater steel construction surface marine growth cleaning robot.Herein
It should be noted that empty water jet is a kind of efficient high-pressure water jet, it is the principle that make use of hydraulic " cavitation ", leads to
Cross and many vacuoles are artificially produced in water jet a fluid stream, strengthen the work of jet using strong impact power caused by cavity collapse
Use effect.
As an example, the water under high pressure hydraulic pressure is preferably 16Mpa, the outlet of the first jet 46 and the second nozzle 47
Diameter is preferably 1.5mm.
Fig. 7 and Fig. 8 is referred to incorporated by reference to Fig. 1, underwater steel construction surface marine growth cleaning robot transports on out-of-flatness surface 50
When dynamic, first magnet-wheel 31 moves to projection 52, when second magnet-wheel 33 moves to pit 51, the connecting shaft 11
Can be rotated relative to the axle sleeve 12 so that first magnet-wheel 31 and second magnet-wheel 33 still with the out-of-flatness surface
50 are in contact, and avoid caused by first magnet-wheel 31 or second magnet-wheel 33 depart from the not flat surface 50
Absorption affinity reduces.
The course of work of the underwater steel construction surface marine growth cleaning robot of the present invention is as follows：
Underwater steel construction surface of the present invention marine growth cleaning robot is placed on underwater steel construction surface and covered without marine growth by operating personnel
The region of lid, make first magnet-wheel 31 of first drive wheel group 8 and second drive wheel group 14 and second magnetic
Wheel 33 all directly contacts with steel structure surface, and operating personnel clear up the underwater steel construction surface marine growth controller of robot
Control instruction is assigned, underwater steel construction surface marine growth cleaning robot can be carried out in steel structure surface under the control of the controller
Advance, retrogressing and divertical motion, it is specially：As shown in figure 1, first drive wheel group 8 and second drive wheel group 14
Rotate counterclockwise simultaneously, so that underwater steel construction surface marine growth cleaning robot advances, conversely, first drive wheel group
8 and second drive wheel group 14 rotate clockwise simultaneously so that underwater steel construction surface marine growth cleaning robot retreat；
As shown in figure 3, the steering driving mechanism 5 rotates counterclockwise, first drive wheel group 8 is driven around the second axis 16
Rotate counterclockwise, so that underwater steel construction surface marine growth cleaning robot turns left, conversely, the steering driving mechanism 5 is suitable
Hour hands rotate, and drive first drive wheel group 8 to be rotated clockwise around the second axis 16, so that underwater steel construction surface
Marine growth cleaning robot turns right.Operating personnel gather according to first underwater camera 1 and second underwater camera 7
Image monitor position of the marine growth cleaning robot in underwater steel construction surface with respect to marine growth overlay area in real time, and control under water
Steel structure surface marine growth cleaning robot motion is until the first jet 46 and the institute of the Cleaning Technology Based On Cavitation Water Jet module 10
The face marine growth overlay area of second nozzle 47 is stated, now valve block 48 is opened described in operating personnel's remote control, from described first
The water under high pressure that nozzle 46 and the second nozzle 47 spray is cleared up marine growth overlay area.When staff pass through it is described
First underwater camera 1 and the image viewing of second underwater camera 7 collection have been completed to clear up to the marine growth overlay area
Afterwards, just control underwater steel construction surface marine growth cleaning robot motion until the Cleaning Technology Based On Cavitation Water Jet module 10 described the
One nozzle 46 and another marine growth overlay area of the face of the second nozzle 47, and so on, until steel structure surface is no longer
There is marine growth overlay area.
In summary, the present invention provides a kind of underwater steel construction surface marine growth cleaning robot, the underwater steel construction surface sea
Biology cleaning robot includes：Steering spindle bearing, steering spindle, support frame, steering driving mechanism, the first drive wheel group, first
Support, Cleaning Technology Based On Cavitation Water Jet module, connecting shaft, axle sleeve, second support, the second drive wheel group, the first underwater camera and
Second underwater camera；The steering bearing cover for seat is placed in the periphery of the steering spindle, and the steering spindle bearing and described turn to are driven
Motivation structure is fixedly connected with support frame as described above；The steering spindle is fixedly connected with the steering driving mechanism；The first support one
End is fixedly connected with the steering spindle, and the other end is hinged with first drive wheel group；The Cleaning Technology Based On Cavitation Water Jet module and institute
Support frame is stated to be fixedly connected, and positioned at the side of support frame as described above；Described connecting shaft one end is fixedly connected with support frame as described above, separately
One end is hinged with the axle sleeve；Described second support one end is fixedly connected with the one end of the axle sleeve away from the connecting shaft, another
End is hinged with second drive wheel group；First underwater camera is fixedly connected with support frame as described above, and is located at the cavitation
The front of water jet cleaning module；Second underwater camera is fixedly connected with the second support；First underwater camera
Head and second underwater camera are located at the same side of support frame as described above with the Cleaning Technology Based On Cavitation Water Jet module.The water of the present invention
Lower steel structure surface marine growth clears up robot by the way of wheeled 4 wheel driven, and motion is more flexible；Connecting shaft can be with respect to axle sleeve
Freely rotate so that underwater steel construction surface marine growth of the invention clears up robot, and in out-of-flatness apparent motion, four magnet-wheels are all
Contacted with steel structure surface, ensure that metastable absorption affinity and certain obstacle climbing ability；Using cavitating water jet manner of cleaning up,
With the cleaning efficiency higher than tradition machinery cleaning, while more saved than high-pressure water jet；By the first underwater camera and
Second underwater camera can obtain robot front, rear and the image for clearing up side in real time, and operating personnel can be as driving one
Sample adjusts the motion of robot, control mode simple, intuitive.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any to be familiar with this skill
The personage of art all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Therefore, such as
Those of ordinary skill in the art without departing from disclosed spirit with completed under technological thought all etc.
Modifications and changes are imitated, should be covered by the claim of the present invention.
Claims (12)
1. a kind of underwater steel construction surface marine growth clears up robot, it is characterised in that including：Steering spindle bearing, steering spindle, support
Frame, steering driving mechanism, the first drive wheel group, first support, Cleaning Technology Based On Cavitation Water Jet module, connecting shaft, axle sleeve,
Two supports, the second drive wheel group, the first underwater camera and the second underwater camera；
The steering bearing cover for seat is placed in the periphery of the steering spindle, the steering spindle bearing and the steering driving mechanism with
Support frame as described above is fixedly connected；The steering spindle is fixedly connected with the steering driving mechanism；
Described first support one end is fixedly connected with the steering spindle, and the other end is hinged with first drive wheel group；
The Cleaning Technology Based On Cavitation Water Jet module is fixedly connected with support frame as described above, and positioned at the side of support frame as described above；
Described connecting shaft one end is fixedly connected with support frame as described above, and the other end is hinged with the axle sleeve；
Described second support one end is fixedly connected with the one end of the axle sleeve away from the connecting shaft, the other end and described second
Drive wheel group is hinged；
First underwater camera is fixedly connected with support frame as described above, and before the Cleaning Technology Based On Cavitation Water Jet module
Side；Second underwater camera is fixedly connected with the second support；First underwater camera and described second underwater
Camera is located at the same side of support frame as described above with the Cleaning Technology Based On Cavitation Water Jet module.
2. underwater steel construction surface according to claim 1 marine growth clears up robot, it is characterised in that：The steering spindle bearing
The steering spindle is supported by deep groove ball bearing.
3. underwater steel construction surface according to claim 1 marine growth clears up robot, it is characterised in that：The underwater steel construction
Surface marine growth cleaning robot also includes the first underwater camera head bracket and the second underwater camera head bracket；Described first is underwater
Camera is fixedly connected via the first underwater camera head bracket with support frame as described above, and second underwater camera is via institute
The second underwater camera head bracket is stated to be fixedly connected with the second support.
4. underwater steel construction surface according to claim 1 marine growth clears up robot, it is characterised in that：The steering driving machine
Structure includes：Decelerator, steering driving shaft, first connecting rod, second connecting rod, steering driving mechanism cover plate, third connecting rod, turn
To motor seal chamber, steering motor, turn to shaft coupling, steering driving mechanism bearing block and fourth link；
The steering driving mechanism cover plate is located above the steering motor annular seal space, and is fixedly connected with support frame as described above；
The steering driving mechanism bearing block be fixed on the steering driving mechanism cover plate and the steering motor annular seal space it
Between, and extend to the inner space that the steering driving mechanism cover plate is formed with the steering motor annular seal space；
The steering motor is located in the steering motor annular seal space, and is located at the lower section of the steering driving mechanism bearing block,
The decelerator is located in the steering driving mechanism cover plate, and positioned at the top of the steering driving mechanism bearing block；It is described
Steering motor and the decelerator are fixedly connected with the steering driving mechanism bearing block；The drive shaft of the steering motor is worn
The steering driving mechanism bearing block is crossed to be fixedly connected with the input of the decelerator by turning to shaft coupling；The decelerator
Output end be fixedly connected with the steering driving shaft；
The steering driving shaft is fixedly connected through the steering driving mechanism cover plate with the first connecting rod；
Described first connecting rod one end and the first end of the second connecting rod are hinged, and the first end of the other end and fourth link is hinged；
The third connecting rod is fixedly connected with the steering spindle, and the of one end of the third connecting rod and the second connecting rod
Two ends are hinged, and the other end and the second end of the fourth link are hinged.
5. underwater steel construction surface according to claim 4 marine growth clears up robot, it is characterised in that：The steering driving machine
Structure bearing block supports the steering shaft coupling by deep groove ball bearing.
6. underwater steel construction surface according to claim 4 marine growth clears up robot, it is characterised in that：The steering driving machine
O is equipped between structure bearing block and the steering driving shaft, the steering driving mechanism cover plate and the steering motor annular seal space
Type sealing ring.
7. underwater steel construction surface according to claim 1 marine growth clears up robot, it is characterised in that：The first support and
The second support includes：Rack shaft holder, connecting plate and support base；
The connecting plate of the first support is fixedly connected with the steering spindle, the connecting plate of the second support with
The one end of the axle sleeve away from the connecting shaft is fixedly connected；
The rack shaft holder and the support base are located at the two of first drive wheel group and second drive wheel group respectively
Side, and the both ends with the connecting plate are fixedly connected respectively.
8. underwater steel construction surface according to claim 7 marine growth clears up robot, it is characterised in that：First driving wheel
Group and second drive wheel group include：First magnet-wheel, connecting cylinder, the second magnet-wheel, motor, drive wheel group shaft coupling
Device, drive connection part, motor cover plate, motor annular seal space and seal cover board；
First magnet-wheel is fixedly connected with second magnet-wheel by the connecting cylinder；
The first end of the motor annular seal space passes perpendicularly through the support base, first magnet-wheel and second magnet-wheel,
And the seal cover board is fixedly connected with support base；
The motor cover plate is covered in the first end of the motor annular seal space；
The motor is located in the motor annular seal space, and is fixedly connected with the motor annular seal space；Institute
The output shaft of motor is stated to fix through the first end of the motor annular seal space and the motor cover plate, and with institute
Drive wheel group shaft coupling is stated to be fixedly connected；
The drive connection part is located on the outside of the motor cover plate, and with the drive wheel group shaft coupling and described first
Magnet-wheel is fixedly connected；
The seal cover board covers and is fixed on the second end of the motor annular seal space.
9. underwater steel construction surface according to claim 8 marine growth clears up robot, it is characterised in that：The rack shaft holder
The drive wheel group shaft coupling is supported by deep groove ball bearing；Described in the motor annular seal space is supported by deep groove ball bearing
First magnet-wheel and second magnet-wheel.
10. underwater steel construction surface according to claim 8 marine growth clears up robot, it is characterised in that：The driving electricity
Between machine annular seal space and the seal cover board and the motor cover plate and the motor cover plate and the drive wheel group
O-ring seal is equipped between shaft coupling.
11. underwater steel construction surface according to claim 8 marine growth clears up robot, it is characterised in that：First magnetic
Wheel and second magnet-wheel include：Wheel hub, the first magnetic conductive board, the second magnetic conductive board, magnet ring and rubber ring；
The magnet ring is placed on the periphery of the wheel hub, and the inner side of the magnet ring on the outside of the wheel hub with being fixedly connected；
First magnetic conductive board and second magnetic conductive board adhere on two end faces of the magnet ring, and with the wheel hub
Two end faces are fixedly connected；
The rubber ring is fixedly connected with the outside of first magnetic conductive board, second magnetic conductive board and the magnet ring respectively.
12. underwater steel construction surface according to claim 1 marine growth clears up robot, it is characterised in that：The cavitation water
Jet flow cleaning module includes：First jet, second nozzle, valve block and valve block connector；
The valve block is fixedly connected by the valve block connector with support frame as described above；
The first jet and the second nozzle are fixedly connected with the valve block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408757.3A CN107472479B (en) | 2016-06-08 | 2016-06-08 | Marine organism cleaning robot for underwater steel structure surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408757.3A CN107472479B (en) | 2016-06-08 | 2016-06-08 | Marine organism cleaning robot for underwater steel structure surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107472479A true CN107472479A (en) | 2017-12-15 |
| CN107472479B CN107472479B (en) | 2023-05-02 |
Family
ID=60593473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610408757.3A Active CN107472479B (en) | 2016-06-08 | 2016-06-08 | Marine organism cleaning robot for underwater steel structure surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107472479B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974166A (en) * | 2018-08-15 | 2018-12-11 | 罗高生 | A kind of adaptive curved surface climbing robot of magnetic suck |
| CN109985850A (en) * | 2019-04-26 | 2019-07-09 | 山东交通学院 | A kind of marine growth removal device of formula offshore platform leg surface |
| CN110000130A (en) * | 2019-02-21 | 2019-07-12 | 龙雪琴 | A kind of pylon Ice removing machine based on ice walking |
| CN110395369A (en) * | 2019-06-24 | 2019-11-01 | 浙江大学 | A kind of underwater steel construction surface marine growth cleaning robot based on magnet-wheel walking |
| CN110606172A (en) * | 2019-09-26 | 2019-12-24 | 哈尔滨工程大学 | Movable platform for cleaning dirt on surface of ship |
| CN112829896A (en) * | 2019-11-22 | 2021-05-25 | 纳百创新科技有限公司 | Hull robot of crawling |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2076824C1 (en) * | 1993-05-26 | 1997-04-10 | Акционерное общество "ШиК" | Device for underwater cleaning of ships and submerged structures |
| US20030000445A1 (en) * | 1995-03-22 | 2003-01-02 | Mcguire Dennis | Apparatus and method for removingcpatomgs from the hulls of vessels using ultra-high pressure water |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN202226028U (en) * | 2011-09-09 | 2012-05-23 | 海南绿航水下清洗科技有限公司 | Underwater cavitation cleaning system for ship |
| CN202879769U (en) * | 2012-10-09 | 2013-04-17 | 山东交通学院 | Large ship bottom underwater cleaning equipment |
| CN203996833U (en) * | 2014-06-19 | 2014-12-10 | 天津市海盛嘉禾能源科技有限公司 | A kind of robot mechanism that is applicable to the cleaning of jacket marine life |
| CN104816762A (en) * | 2015-05-08 | 2015-08-05 | 浙江海洋学院 | Automatic cleaning device for ship fouling |
| CN204606176U (en) * | 2015-05-11 | 2015-09-02 | 李明雷 | Ship machinery people is climbed under a kind of novel ship water for cleaning |
| CN105480395A (en) * | 2015-11-30 | 2016-04-13 | 中国船舶重工集团公司第七一〇研究所 | Cavitation cleaning device for clearing biofouling on surfaces of marine ships and platforms |
-
2016
- 2016-06-08 CN CN201610408757.3A patent/CN107472479B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2076824C1 (en) * | 1993-05-26 | 1997-04-10 | Акционерное общество "ШиК" | Device for underwater cleaning of ships and submerged structures |
| US20030000445A1 (en) * | 1995-03-22 | 2003-01-02 | Mcguire Dennis | Apparatus and method for removingcpatomgs from the hulls of vessels using ultra-high pressure water |
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN202226028U (en) * | 2011-09-09 | 2012-05-23 | 海南绿航水下清洗科技有限公司 | Underwater cavitation cleaning system for ship |
| CN202879769U (en) * | 2012-10-09 | 2013-04-17 | 山东交通学院 | Large ship bottom underwater cleaning equipment |
| CN203996833U (en) * | 2014-06-19 | 2014-12-10 | 天津市海盛嘉禾能源科技有限公司 | A kind of robot mechanism that is applicable to the cleaning of jacket marine life |
| CN104816762A (en) * | 2015-05-08 | 2015-08-05 | 浙江海洋学院 | Automatic cleaning device for ship fouling |
| CN204606176U (en) * | 2015-05-11 | 2015-09-02 | 李明雷 | Ship machinery people is climbed under a kind of novel ship water for cleaning |
| CN105480395A (en) * | 2015-11-30 | 2016-04-13 | 中国船舶重工集团公司第七一〇研究所 | Cavitation cleaning device for clearing biofouling on surfaces of marine ships and platforms |
Non-Patent Citations (2)
| Title |
|---|
| 夏宝莹;刘望;郑金豹;黄皓;崔健;: "空化射流清洗技术及其在水下设施清洗中的应用" * |
| 张玉莲;陈胜;章海;: "船舶水下液压清洗设备研究" * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974166A (en) * | 2018-08-15 | 2018-12-11 | 罗高生 | A kind of adaptive curved surface climbing robot of magnetic suck |
| CN110000130A (en) * | 2019-02-21 | 2019-07-12 | 龙雪琴 | A kind of pylon Ice removing machine based on ice walking |
| CN109985850A (en) * | 2019-04-26 | 2019-07-09 | 山东交通学院 | A kind of marine growth removal device of formula offshore platform leg surface |
| CN110395369A (en) * | 2019-06-24 | 2019-11-01 | 浙江大学 | A kind of underwater steel construction surface marine growth cleaning robot based on magnet-wheel walking |
| CN110395369B (en) * | 2019-06-24 | 2020-08-18 | 浙江大学 | Underwater steel structure surface marine organism cleaning robot based on magnetic wheel walking |
| CN110606172A (en) * | 2019-09-26 | 2019-12-24 | 哈尔滨工程大学 | Movable platform for cleaning dirt on surface of ship |
| CN110606172B (en) * | 2019-09-26 | 2021-06-18 | 哈尔滨工程大学 | Movable platform for cleaning dirt on surface of ship |
| CN112829896A (en) * | 2019-11-22 | 2021-05-25 | 纳百创新科技有限公司 | Hull robot of crawling |
| CN114101162A (en) * | 2021-10-08 | 2022-03-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
| CN114101162B (en) * | 2021-10-08 | 2022-11-01 | 河北工业大学 | Wall climbing robot for cleaning jacket of ocean platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107472479B (en) | 2023-05-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107472479A (en) | Underwater steel construction surface marine growth cleaning robot | |
| CN206476068U (en) | Underwater steel construction surface marine growth cleaning robot | |
| CN102672704B (en) | Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms | |
| CN100383007C (en) | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing | |
| CN105751226B (en) | A kind of negative-pressure adsorption aids in clipping underwater steel construction cleaning robot with double-manipulator | |
| CN112660321B (en) | Underwater cleaning device for marine equipment | |
| CN105690401A (en) | Flexible steel-made wall-climbing robot | |
| CN102689295B (en) | Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm | |
| CN106583307A (en) | Underwater cavitation washing robot | |
| CN107140151B (en) | Hull cleaning wall climbing robot | |
| CN113427491A (en) | Climbing type pipeline outer surface surrounding inspection/cleaning robot and pipeline surface cleaning method | |
| CN111232151B (en) | Negative pressure adsorption ship body cleaning robot and ship body wall surface movement reversing method | |
| CN207088875U (en) | Lu Hang robots and amphibious robot | |
| CN205704210U (en) | A kind of negative-pressure adsorption assists clipping underwater steel construction cleaning robot with double-manipulator | |
| CN206305107U (en) | A kind of underwater cavitating cleaning robot | |
| KR101440900B1 (en) | Rotating device comprising a rotating 2-way negative pressure seal | |
| CN209095564U (en) | A kind of multipurpose snake-shaped robot | |
| CN202805181U (en) | Full-driving magnetic adsorption type multifunctional wall-climbing robot with MDOF (multi-degree of freedom) mechanical arm | |
| CN112874736A (en) | Marine ranching netting cleaning robot | |
| CN106040642B (en) | A kind of ultra-high pressure water fluid jet buoy derusting device | |
| US20110198379A1 (en) | Sludge and sediment removal system by remote access | |
| JPH06134422A (en) | Running device in pipe | |
| CN203899988U (en) | Cyclone washing machine for filter cylinders | |
| CN210228001U (en) | Curtain wall cleaning robot with planar motion | |
| CN113291430A (en) | Ship body marine organism cleaning robot and motion control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |