CN109080789A - A kind of cleaning device of propeller underwater automatic cleaning equipment - Google Patents
A kind of cleaning device of propeller underwater automatic cleaning equipment Download PDFInfo
- Publication number
- CN109080789A CN109080789A CN201810920891.0A CN201810920891A CN109080789A CN 109080789 A CN109080789 A CN 109080789A CN 201810920891 A CN201810920891 A CN 201810920891A CN 109080789 A CN109080789 A CN 109080789A
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- China
- Prior art keywords
- cleaning device
- propeller
- underwater
- cavitation
- underwater robot
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- 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.)
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Classifications
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- 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
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
A kind of cleaning device of propeller underwater automatic cleaning equipment, including underwater robot, the position of left side three of the underwater robot frame of the underwater robot is separately installed with the first cleaning device locating rod, the second cleaning device locating rod and third cleaning device locating rod, the first cleaning device locating rod, the second cleaning device locating rod and third cleaning device locating rod position propeller, the underwater manipulator of the underwater robot is equipped with cavitating cleaner by attachment device, and the delivery outlet of cavitating cleaner is docked with propeller.Underwater robot carries underwater hand and cleans propeller by the high pressure water that high service device provides with attachment device clamping cavitating cleaner injection with cavitation principle.Underwater robot is mobile to clean entire propeller blade face by preset path, and rotation propeller is completed to clean all blade faces of propeller.
Description
Technical field
The present invention relates to mechanical automation engineering device technique field, especially a kind of propeller underwater automatic cleaning equipment it is clear
Cleaning device.
Background technique
Propeller plays particularly important effect in ship's navigation, and ship impregnates in the seawater for a long time can adhere to ocean life
Object reduces the mechanical efficiency of steamer propulsion system, increases fuel oil loss, and the marine organisms adhered on propeller have propeller
Imitating function reduces by 20%.Periodic cleaning hull and propeller surface are of great significance to holding high-efficiency ship navigation.
The features such as propeller arrangement has spatial position complicated, is not easy automation cleaning, and its material is soft, these are all
Great difficulty is brought for cleaning.
Currently, in the prior art, underwater cleaning mode mainly has artificial cleaning, underwater robot to clean automatically.
Artificial cleaning is that diver's carrying cleaning equipment (spatula, hydraulic wiper, high-pressure jet rifle etc.) is cleaned, work under water
Make bad environments, the cleaning path of not clear orderliness, and with certain safety problem.
Underwater robot cleans the hull surface for being primarily adapted for use in and cleaning small curvature, large area automatically, for propeller
The influence of complicated shape and wave stream can not then be accurately positioned realization high-efficiency washing.
These cleaning way cleaning efficiencies are low, and cleaning is at high cost, can more or less damage propeller blade face.
Summary of the invention
It is underwater to provide a kind of a kind of structurally reasonable propeller for the disadvantage in above-mentioned existing production technology by the applicant
The cleaning device of automatic cleaning equipment, so as to effectively avoid the problem that cleaning efficiency is low and at high cost in the prior art,
Functional reliability is greatly improved, cost is reduced.
The technical solution adopted in the present invention is as follows:
A kind of cleaning device of propeller underwater automatic cleaning equipment, including underwater robot, the underwater robot
The position of left side three of underwater robot frame is separately installed with the first cleaning device locating rod, the second cleaning device locating rod
With third cleaning device locating rod, the first cleaning device locating rod, the second cleaning device locating rod and third cleaning device
Locating rod positions propeller, and the underwater manipulator of the underwater robot is equipped with cavitation cleaning dress by attachment device
It sets, the delivery outlet of cavitating cleaner is docked with propeller.
Its further technical solution is:
The structure of the cavitating cleaner are as follows: including cavitation cleaning device mounting plate, on the cavitation cleaning device mounting plate
It is fixed with attachment device, cavitation cleaning device water inlet pipe, the cavitation cleaning device water inlet pipe connection are passed through in the middle part of the attachment device
Cavitation cleaning device contrainjector is installed in one end of cavitation cleaning device main body tube, the cavitation cleaning device main body tube, and the cavitation is clear
The other end for washing gun main body pipe is equipped with cavitation cleaning device positive nozzle and cavitation cleaning device mandril, in cavitation cleaning device main body tube
Portion outer ring is equipped with buoyant mass.
The structure of the underwater robot are as follows: including underwater robot frame, the underwater robot lower portion is from upper
It is sequentially formed with electronic compartment and electric compartment down, manipulator control cabin, underwater are installed in the middle part of underwater robot frame
People's lower portion upper layer and lower layer are symmetrically arranged respectively vertical thrusters and level is in 45 degree of propeller.
Beneficial effects of the present invention are as follows:
Structure of the invention is compact, reasonable, easy to operate, and underwater robot carries underwater hand and clamps sky with attachment device
Change cleaning device injection and propeller is cleaned with cavitation principle by the high pressure water that high service device provides.What underwater robot carried
Three locating rods generate positioning of the lateral thrust completion relative to propeller with self-propelled device, and it is clear that underwater manipulator clamps cavitation
Cleaning device is completed to clean propeller blade face local area, and underwater robot is mobile to clean entire screw blade by preset path
Face, rotation propeller are completed to clean all blade faces of propeller.
Meanwhile the present invention is also equipped with following advantage:
(a) manipulator and cavitating cleaner are carried due to using underwater robot, instead of manually cleaning is lauched, dropped
Low cleaning cost；
It (b), can be effective when being cleaned to propeller blade face since the cleaning technique used is cavitation cleaning technique
Removing propeller blade face attachment, and propeller blade face will not be damaged；
(c) since the underwater robot external structure for carrying cavitation cleaning device is built using profile, structure is simple and convenient to be ground
It makes and functional；
(d) underwater robot carries the manipulator with high-freedom degree, and cleaning action has high flexibility, can be to propeller
Blade face is cleaned comprehensively；
(e) the connection buckle structure design between cavitation jet rifle and manipulator is simple, and clamping is securely easy to operate；
(f) underwater robot is designed using positive buoyancy, is encountered failure with good self-saving ability, is reduced loss；
(g) underwater robot opposed helical paddle is positioned using locating rod, it can be achieved that with propeller good fit；
(h) underwater robot is positioned using locating rod, and locating rod is easy for installation, is easily adjusted；
(i) underwater robot has coherent cleaning path planning, improves cleaning efficiency；
(j) cavitation cleaning device accelerates cleaning efficiency using Liang Ge branch jet pipe；
(k) cavitation cleaning device is equipped with contrainjector, and the backward thrust that nozzle generates can be offset with preceding end thrust, realizes balance
Cleaning；
(l) cavitation cleaning device installs buoyant mass, so that cavitation cleaning device neutral buoyancy, does not produce the dynamic equilibrium of cleaning device
Raw interference.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of cavitating cleaner of the present invention.
Fig. 3 is positioning figure of the invention.
Wherein: 5, attachment device；6, cavitating cleaner；7, propeller；26, electronic compartment；27, propeller；28, manipulator
Control cabinet；29, underwater robot frame；30, electric compartment；31, underwater manipulator；32, cavitation cleaning device contrainjector；33, empty
Change cleaning device mounting plate；34, cavitation cleaning device water inlet pipe；35, cavitation cleaning device mandril；36, cavitation cleaning device positive nozzle；
37, buoyant mass；38, cavitation cleaning device main body tube；39, the first cleaning device locating rod；40, the second cleaning device locating rod；41,
Third cleaning device locating rod.
Specific embodiment
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in Figure 1, Figure 2 and Figure 3, the cleaning device of the propeller underwater automatic cleaning equipment of the present embodiment, including water
Lower robot, it is fixed that the position of left side three of the underwater robot frame 29 of underwater robot is separately installed with the first cleaning device
Position bar 39, the second cleaning device locating rod 40 and third cleaning device locating rod 41, the first cleaning device locating rod 39, second are clear
Cleaning device locating rod 40 and third cleaning device locating rod 41 position propeller 7, the underwater manipulator of underwater robot
31 are equipped with cavitating cleaner 6 by attachment device 5, and the delivery outlet of cavitating cleaner 6 is docked with propeller 7.
The structure of cavitating cleaner 6 are as follows: fixed on cavitation cleaning device mounting plate 33 including cavitation cleaning device mounting plate 33
There is attachment device 5, cavitation cleaning device water inlet pipe 34 is passed through in the middle part of attachment device 5, it is clear that cavitation cleaning device water inlet pipe 34 connects cavitation
Gun main body pipe 38 is washed, cavitation cleaning device contrainjector 32 is installed in one end of cavitation cleaning device main body tube 38, and cavitation cleans gun main body
The other end of pipe 38 is equipped with cavitation cleaning device positive nozzle 36 and cavitation cleaning device mandril 35, in cavitation cleaning device main body tube 38
Portion outer ring is equipped with buoyant mass 37.
The structure of underwater robot are as follows: including underwater robot frame 29, inside underwater robot frame 29 from top to bottom
It is sequentially formed with electronic compartment 26 and electric compartment 30, the middle part of underwater robot frame 29 is equipped with manipulator control cabin 28, under water
29 inside upper layer and lower layer of robot frame are symmetrically arranged respectively vertical thrusters 27 and level is in 45 degree of propeller 27.
In actual use, Underwater Navigation is carried out first: underwater robot being hung into water, is utilized by console
Underwater robot is slowly moved to apart from the closer position of Initial fix 1 by control crank, further adjusts underwater manipulator
31 posture, to prevent robot under water during the propeller 7, cavitation cleaning device mandril 35 is touched propeller 7 and is occurred
Damage is cooperateed with using the first cleaning device locating rod 39, the second cleaning device locating rod 40 and third cleaning device locating rod 41
Underwater robot is attached to the blade face of propeller 7 by effect and underwater robot lateral thrust, completes initial alignment；
Then, positive single blade cleaning: according to the sub-marine situations of underwater robot camera shooting mounted, manipulation control
Control handle on platform processed completes fan-shaped cleaning action to control underwater manipulator 31, after the completion of cleaning at Initial fix 1,
It is for linear motion into anchor point 2 backward to control underwater robot, cleans corresponding region, underwater robot does not surpass in locating rod
Out under the premise of 7 blade face of propeller, moved straight rearward is done always into next anchor point, cleans corresponding fan-shaped region,
Subsequently, positive wash cycles: after the completion of single blade cleaning, control underwater robot far from 7 blade face of propeller,
Unwashed 7 blade of propeller is gone to cleaned leaf position, control underwater robot to starting by rotating screw 7
Anchor point 1 repeats the cleaning content of the 5th step, completes the cleaning of 7 face of blade of propeller；
Subsequently, Wafer Backside Cleaning；Above-mentioned positioning and cleaning action are repeated, the Wafer Backside Cleaning of 7 blade of propeller is completed；
Finally, cleaning effect inspection；It controls underwater robot to move around propeller 7, leaf cleaning is observed by camera
Effect, 7 root narrow regions of region bad for cleaning effect and propeller carry out local cleaning.
It can complete the cleaning task of propeller 7 easily and fast through the above steps, reliable operation, work efficiency is high.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that within protection scope of the present invention, any type of modification can be made.
Claims (3)
1. a kind of cleaning device of propeller underwater automatic cleaning equipment, it is characterised in that: described underwater including underwater robot
The position of left side three of the underwater robot frame (29) of robot is separately installed with the first cleaning device locating rod (39),
Two cleaning device locating rods (40) and third cleaning device locating rod (41), the first cleaning device locating rod (39), second
Cleaning device locating rod (40) and third cleaning device locating rod (41) position propeller (7), the underwater robot
Underwater manipulator (31) be equipped with cavitating cleaner (6) by attachment device (5), the delivery outlet of cavitating cleaner (6)
It is docked with propeller (7).
2. a kind of cleaning device of propeller underwater automatic cleaning equipment as described in claim 1, it is characterised in that: the sky
Change the structure of cleaning device (6) are as follows: fixed on the cavitation cleaning device mounting plate (33) including cavitation cleaning device mounting plate (33)
Have attachment device (5), cavitation cleaning device water inlet pipe (34), the cavitation cleaning device water inlet are passed through in the middle part of the attachment device (5)
(34) connection cavitation cleaning device main body tube (38) is managed, one end installation cavitation cleaning device of the cavitation cleaning device main body tube (38) is anti-
To nozzle (32), the other end of the cavitation cleaning device main body tube (38) is equipped with cavitation cleaning device positive nozzle (36) and cavitation
Cleaning device mandril (35), cavitation cleaning device main body tube (38) middle part outer ring are equipped with buoyant mass (37).
3. a kind of cleaning device of propeller underwater automatic cleaning equipment as described in claim 1, it is characterised in that: the water
The structure of lower robot are as follows: including underwater robot frame (29), the underwater robot frame (29) it is internal from top to bottom according to
Secondary to be formed with electronic compartment (26) and electric compartment (30), underwater robot frame is equipped with manipulator control cabin in the middle part of (29)
(28), the internal upper layer and lower layer of underwater robot frame (29) are symmetrically arranged respectively vertical thrusters (27) and level in 45 degree
Propeller (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810920891.0A CN109080789A (en) | 2018-08-14 | 2018-08-14 | A kind of cleaning device of propeller underwater automatic cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810920891.0A CN109080789A (en) | 2018-08-14 | 2018-08-14 | A kind of cleaning device of propeller underwater automatic cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109080789A true CN109080789A (en) | 2018-12-25 |
Family
ID=64834611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810920891.0A Pending CN109080789A (en) | 2018-08-14 | 2018-08-14 | A kind of cleaning device of propeller underwater automatic cleaning equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN109080789A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795644A (en) * | 2019-04-08 | 2019-05-24 | 江苏科技大学 | A kind of clipping propeller cleaning device |
| CN109823490A (en) * | 2019-04-09 | 2019-05-31 | 江苏科技大学 | A kind of modularization propeller cleaning device |
| CN109895974A (en) * | 2019-04-08 | 2019-06-18 | 江苏科技大学 | A kind of suction type propeller cleaning device |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
| CN111017132A (en) * | 2019-12-30 | 2020-04-17 | 青岛华兴水下机器人技术服务有限公司 | Horizontal and vertical displacement adjustable robot cleaning device |
| CN111530869A (en) * | 2020-04-30 | 2020-08-14 | 山东省科学院自动化研究所 | Underwater cleaning device and underwater robot system |
| CN112407179A (en) * | 2020-12-10 | 2021-02-26 | 江苏科技大学 | Underwater cleaning device for marine equipment and cleaning control method thereof |
| CN112519978A (en) * | 2020-12-10 | 2021-03-19 | 江苏科技大学 | Underwater cleaning device and method for ship propeller |
| CN112960079A (en) * | 2021-03-24 | 2021-06-15 | 福建宝中海洋工程股份有限公司 | Underwater repair device for ship propeller |
| CN113182231A (en) * | 2021-07-02 | 2021-07-30 | 智真海洋科技(威海)有限公司 | Underwater intelligent cleaning robot |
| WO2022121201A1 (en) * | 2020-12-10 | 2022-06-16 | 江苏科技大学 | Propeller cleaning path planning method and cleaning robot using method |
| CN115042944A (en) * | 2022-06-21 | 2022-09-13 | 任天海 | Underwater unpowered cleaning device for marine propeller |
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| CN201268395Y (en) * | 2008-07-27 | 2009-07-08 | 张玉莲 | Shipping underwater hydraulic vibration cleaning equipment |
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| CN201268395Y (en) * | 2008-07-27 | 2009-07-08 | 张玉莲 | Shipping underwater hydraulic vibration cleaning equipment |
| 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 |
| CN105480395B (en) * | 2015-11-30 | 2017-09-26 | 中国船舶重工集团公司第七一〇研究所 | For marine ship and the cavitating cleaner of platform surface biodeterioration |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895974A (en) * | 2019-04-08 | 2019-06-18 | 江苏科技大学 | A kind of suction type propeller cleaning device |
| CN109795644A (en) * | 2019-04-08 | 2019-05-24 | 江苏科技大学 | A kind of clipping propeller cleaning device |
| CN109910025B (en) * | 2019-04-09 | 2022-03-08 | 江苏科技大学 | Underwater propeller cleaning robot |
| CN109823490A (en) * | 2019-04-09 | 2019-05-31 | 江苏科技大学 | A kind of modularization propeller cleaning device |
| CN109910025A (en) * | 2019-04-09 | 2019-06-21 | 江苏科技大学 | A kind of underwater propeller cleaning robot |
| CN111017132A (en) * | 2019-12-30 | 2020-04-17 | 青岛华兴水下机器人技术服务有限公司 | Horizontal and vertical displacement adjustable robot cleaning device |
| CN111530869A (en) * | 2020-04-30 | 2020-08-14 | 山东省科学院自动化研究所 | Underwater cleaning device and underwater robot system |
| CN112407179A (en) * | 2020-12-10 | 2021-02-26 | 江苏科技大学 | Underwater cleaning device for marine equipment and cleaning control method thereof |
| CN112519978A (en) * | 2020-12-10 | 2021-03-19 | 江苏科技大学 | Underwater cleaning device and method for ship propeller |
| CN112519978B (en) * | 2020-12-10 | 2022-04-15 | 江苏科技大学 | Underwater cleaning device and method for ship propeller |
| WO2022121201A1 (en) * | 2020-12-10 | 2022-06-16 | 江苏科技大学 | Propeller cleaning path planning method and cleaning robot using method |
| CN112960079A (en) * | 2021-03-24 | 2021-06-15 | 福建宝中海洋工程股份有限公司 | Underwater repair device for ship propeller |
| CN113182231A (en) * | 2021-07-02 | 2021-07-30 | 智真海洋科技(威海)有限公司 | Underwater intelligent cleaning robot |
| CN115042944A (en) * | 2022-06-21 | 2022-09-13 | 任天海 | Underwater unpowered cleaning device for marine propeller |
| CN115042944B (en) * | 2022-06-21 | 2023-10-03 | 湖南鼎盛船舶有限公司 | Marine screw is unpowered belt cleaning device under water |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181225 |
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| RJ01 | Rejection of invention patent application after publication |