CN109094761B - A kind of propeller underwater cleaning device - Google Patents
A kind of propeller underwater cleaning device Download PDFInfo
- Publication number
- CN109094761B CN109094761B CN201810921297.3A CN201810921297A CN109094761B CN 109094761 B CN109094761 B CN 109094761B CN 201810921297 A CN201810921297 A CN 201810921297A CN 109094761 B CN109094761 B CN 109094761B
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- CN
- China
- Prior art keywords
- cavitation jet
- propeller
- underwater robot
- jet device
- head
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
A kind of propeller underwater cleaning device, including underwater robot ROV are equipped with straight line mould group on the chassis inside underwater robot ROV, the driving sliding block slid along are equipped in straight line mould group, and drive by the first waterproof machine；The top underwater robot ROV is equipped with feed screw apparatus and linear steering axis；It is also equipped with flexible water conduit in the middle part of underwater robot ROV, the head of flexible water conduit is equipped with cavitation jet spray head by transition components.Small in size, ship is easy to carry, and ship is parked on the water surface, can clean to propeller for vessels after propeller underwater cleaning device is put into water, avoid ship from being lauched the high risk of operation into the high cost of dock and diver, and do not destroy marine environment.
Description
Technical field
The present invention relates to cleaning device technical field, especially a kind of propeller underwater cleaning device.
Background technique
Currently, power vessels are all to make ship's navigation, the promotion effect of propeller by sustainer driving propeller
Rate has large effect to the route speed of ship.Ship's navigation after a certain period of time, propeller surface can adsorb dirt,
Dirt increases the frictional force between propeller blade and water, overcomes these frictional force inevitable when such propeller high speed rotation
More energy is consumed, caused final result is the slack-off route speed of ship, oil consumption increase, operation costs increase.It is now anxious
A kind of propeller cleaning method of need and device provide technology for the decontamination of propeller for vessels surface and equipment are supported.
In the prior art, there are mainly three types of the main methods and device that propeller cleans:
(1) after ship drydocking, worker holds scoop, brush etc. and is manually removed the dirt on propeller surface,
Then it is washed away with high pressure water.Cleaning effect is best, but the time that ship is parked in dock is longer, into dock, artificial, pause operation
Etc. factors considerably increase shipping cleaning expense.This cleaning method is usually used when ship is into dock repair.
(2) ship rests on the water surface, and diver holds cavitation jet system and sprays under water to the dirt on propeller surface
Penetrate cavitation bubble, the energy that when bubble collapse generates degrades the dirt on propeller surface.Diver is lauched operation and increases spiral shell
The cost of labor of paddle cleaning is revolved, and underwater control unknown risks factor is more, constitutes a threat to the inherently safe of diver.
(3) ship rests on the water surface, and ultrasonic transmitter is launched near underwater propeller, is issued using it
Ultrasonic wave is by the dirt removal on propeller surface.Ultrasonic cleaning it is high-efficient, but have serious destruction to marine environment.
Summary of the invention
The applicant provides a kind of structurally reasonable propeller underwater cleaning for the disadvantage in above-mentioned existing production technology
Device so as to realize that the complex surface to ship, submarine propeller etc. is effectively cleaned under water, and is not necessarily to diver
It is lauched operation.
The technical solution adopted in the present invention is as follows:
A kind of chassis inside propeller underwater cleaning device, including underwater robot ROV, the underwater robot ROV
On straight line mould group is installed, the driving sliding block slid along is installed, and drive in the straight line mould group by the first waterproof machine
It is dynamic；The one end underwater robot ROV top is fixedly installed with cavitation jet device rear base, the cavitation jet device rear base side
Portion connects push rod one end by first axle, and the push rod other end is connect by second hinge with driving sliding block；The cavitation jet
Triangle supporting plate is extended on the outside of device rear base, leading screw bearing, the lead screw are installed in the cavitation jet device rear base top
Lead screw is passed through in the middle part of support, and the second waterproof machine of driving lead screw rotation is installed on the cavitation jet device rear base, it is described
Lead screw extend out to the outside of underwater robot ROV, and feed screw nut is installed outside it, and the feed screw nut is fixed on support frame
On, support frame as described above is mounted on crossover sub, and there are three support frame, other two supports for the circumferencial direction distribution of crossover sub
Frame head passes through linear guiding axis, and the head of both threads guiding axis and lead screw is equipped with the cavitation jet device parallel with supporting plate
The tail portion of front-end bracket, both threads guiding axis is mounted on supporting plate by third hinge；In the middle part of underwater robot ROV also
Flexible water conduit is installed, the head of the flexible water conduit is equipped with cavitation jet spray head by transition components.
Its further technical solution is:
The cavitation jet device front-end bracket is at semi-annular structure, and lead screw and both threads guiding axis are in space at triangle
Shape distribution.
The outside of cavitation jet device front-end bracket is stretched out on the head of lead screw and both threads guiding axis, and by sealed
Bearing, shaft block ring and hole retaining ring are connect with the mounting hole of cavitation jet device front-end bracket, cavitation jet device front end branch
The outer end face of frame installs cushioning supportive bar by locking nut or the first screw, and buffering is installed on the head of the cushioning supportive bar
Block.
The mounting structure of the transition components are as follows: flexible water conduit head passes through flexible hoop tube adaptor coupling adapter,
It is extended with rotary table in the middle part of the crossover sub, support frame there are three installations is spaced on the rotary table, passes through method on support frame as described above
Flange-type linear bearing installs linear guiding axis；Described crossover sub one end cavitation jet spray is installed by sealing ring and guide collar
The inner face of head, the cavitation jet spray head installs end cap by the second screw.
Beneficial effects of the present invention are as follows:
Structure of the invention is compact, reasonable, easy to operate, is driven by lead screw and spray head realization is driven to be moved forward and backward, while
The front end of spray head greatly improves functional reliability by the effect of installation buffer stopper, and safety coefficient is high.
Propeller underwater cleaning device volume of the present invention is small, and ship is easy to carry, and ship is parked on the water surface, by spiral shell
Rotation paddle underwater cleaning device can clean propeller for vessels after being put into water, avoid ship into the high cost of dock and
Diver is lauched the high risk of operation, and does not destroy marine environment.
Three high elastic rubber buffer stoppers can stick on the complex surface of propeller, and avoid underwater robot
Impact force between ROV and propeller protects propeller, substantially increases the resistance to of underwater robot ROV and cavitation jet system
With property, and high elastic rubber buffer stopper is readily replaceable.
Cavitation jet system avoids personnel from being lauched cleaning propeller in conjunction with underwater robot ROV, cavitation jet spray head
Using hingedly making cavitation jet spray head realize multi-angle injection between pedestal and underwater robot ROV, lead screw penetrates cavitation
It flows the spray distance between spray head and object propeller to be easy to adjust, obtain any position on propeller curved surface can clearly
It washes.
Cavitation jet spray head is degraded using dirt of the cavitation bubble to propeller surface, and cavitation jet spray head generates
Recoil be that couple rotates spray head, the projected area of spray head is increased, and recoil is balanced, underwater
Headlamp and camera on people ROV provide cleaning picture in real time for the operator on deck.
Detailed description of the invention
Fig. 1 is main view (full sectional view) of the invention.
Fig. 2 is the A direction view in Fig. 1.
Fig. 3 is the partial enlargement structural representation of part B in Fig. 1.
Fig. 4 is the partial enlargement structural representation of C portion in Fig. 1.
Fig. 5 is perspective view of the invention.
Wherein: 1, underwater robot ROV；2, push rod；3, the second waterproof machine；4, first axle；5, after cavitation jet device
Pedestal；501, supporting plate；6, leading screw bearing；7, lead screw；8, support frame；9, feed screw nut；10, cavitation jet device front-end bracket；11,
Cushioning supportive bar；12, buffer stopper；13, linear steering axis；14, cavitation jet spray head；15, flange-type linear bearing；16, it converts
Connector；17, flexible hoop tube adaptor；18, third hinge；19, sliding block；20, second hinge；21, flexible water conduit；22, straight line mould
Group；23, the first waterproof machine；24, guide collar；25, sealing ring；26, the first screw；27, end cap；28, the second screw；29, axis
Use retaining ring；30, sealed bearing；31, hole retaining ring；32, locking nut.
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, shown in Fig. 3, Fig. 4 and Fig. 5, the propeller underwater cleaning device of the present embodiment, including underwater
Straight line mould group 22 is installed on the chassis inside people ROV1, underwater robot ROV1, is equipped with and slides along in straight line mould group 22
Driving sliding block 19, and by the first waterproof machine 23 drive；The one end underwater robot ROV1 top is fixedly installed with cavitation and penetrates
Device rear base 5 is flowed, 5 side of cavitation jet device rear base connects 2 one end of push rod by first axle 4, and 2 other end of push rod passes through the
Two hinge 20 is connect with driving sliding block 19；The outside of cavitation jet device rear base 5 is extended with triangle supporting plate 501, cavitation jet
Leading screw bearing 6 is installed on 5 top of device rear base, and lead screw 7 is passed through in the middle part of leading screw bearing 6, is equipped with drive on cavitation jet device rear base 5
The second waterproof machine 3 that dynamic lead screw 7 rotates, lead screw 7 extend out to the outside of underwater robot ROV1, and lead screw is installed outside it
Nut 9, feed screw nut 9 are fixed on support frame 8, and support frame 8 is mounted on crossover sub 16, the circumferencial direction of crossover sub 16
There are three support frame 8, other two 8 heads of support frame to pass through linear guiding axis 13, both threads guiding axis 13 and silk for distribution
The head of thick stick 7 is equipped with the cavitation jet device front-end bracket 10 parallel with supporting plate 501, and the tail portion of both threads guiding axis 13 passes through
Third hinge 18 is mounted on supporting plate 501；Flexible water conduit 21, flexible water conduit 21 are also equipped in the middle part of underwater robot ROV1
Head cavitation jet spray head 14 is installed by transition components.
Cavitation jet device front-end bracket 10 is at semi-annular structure, and lead screw 7 and both threads guiding axis 13 are in space at three
Angular distribution.
The outside of cavitation jet device front-end bracket 10 is stretched out on the head of lead screw 7 and both threads guiding axis 13, and is passed through
Sealed bearing 30, shaft block ring 29 and hole are connect with retaining ring 31 with the mounting hole of cavitation jet device front-end bracket 10, and cavitation is penetrated
The outer end face for flowing device front-end bracket 10 installs cushioning supportive bar 11, cushioning supportive bar 11 by locking nut 32 or the first screw 26
Head install buffer stopper 12.
The mounting structure of transition components are as follows: 21 head of flexible water conduit passes through 17 coupling adapter of flexible hoop tube adaptor
16, rotary table is extended in the middle part of crossover sub 16, interval installation is straight by flange-type on support frame 8 there are three support frame 8 on rotary table
Spool holds the linear guiding axis 13 of 15 installations；16 one end of crossover sub cavitation jet spray head is installed by sealing ring 25 and guide collar 24
14, the inner face of cavitation jet spray head 14 installs end cap 27 by the second screw 28.
Specific structure of the invention is as follows:
Straight line mould group 22 is mounted on the chassis of underwater robot ROV1, and straight line mould group 22 is driven by the first waterproof machine 23
Sliding block 19 moves in a straight line, and one end of push rod 2 is connect by second hinge 20 with sliding block 19, and the other end of push rod 2 passes through first
Hinge 4 is connect with 5 upper end of cavitation jet device rear base, and the lower end of cavitation jet device rear base 5 is connected to by third hinge 18
On the chassis of underwater robot ROV1.Sealed bearing 30 is mounted in the bearing mounting hole of cavitation jet device front-end bracket 10,
Then hole retaining ring 31 is mounted in the circlip groove of cavitation jet device front-end bracket 10, and hole limits sealed bearing 30 with retaining ring 31
Position, leading screw bearing 6 and the upper end clearance screw of cavitation jet device rear base 5 are fixed, and one end of lead screw 7 is mounted on leading screw bearing 6
The inside, the other end of lead screw 7 and the inner ring of sealed bearing 30 cooperate, and shaft block ring 29 is mounted in the circlip groove of lead screw 7, axis
Lead screw 7 is limited with retaining ring 29, is mounted on above the second waterproof machine 3 driving lead screw 7 of 5 upper end of cavitation jet device rear base
Feed screw nut 9 moves, and cavitation jet device support frame 8 is fixed by screw and the flange end on feed screw nut 9.Cushioning supportive bar 11
Be fixed on cavitation jet device front-end bracket 10 by the first screw 26, high elastic rubber buffer stopper 12 and cushioning supportive bar 11 it
Between be connected through a screw thread.13 both ends narrower portion of linear steering axis is tapped, and 13 one end of both threads guiding axis passes through cavitation
The mounting hole of ejector front-end bracket 10, then nut is tightened on linear guiding axis 13, high elastic rubber buffer stopper 12 and line
Property guiding axis 13 is connected through a screw thread, and the other end of linear steering axis 13 again passes through the mounting hole of cavitation jet device rear base 5,
It is tightened on linear guiding axis 13 using nut, flange-type linear bearing 15 can slide on linear guiding axis 13, and cavitation is penetrated
The flange end flowed on device support frame 8 is fixed by screw and flange-type linear bearing 15.
As shown in figure 4, crossover sub 16 is fixed by screws on cavitation jet device support frame 8, flexible water conduit 21 is set with
In the rear end of crossover sub 16, then flexible hoop tube adaptor 17 is by flexible water conduit 21 and 16 clamping of crossover sub, flexible water conduit
21 other end is connect with the pumping plant on land or deck.Cavitation jet spray head 14 is sleeved on crossover sub 16, guide collar 24
It is mounted in the mounting groove of 16 front end of crossover sub, guide collar 24 is oriented to the rotary motion of cavitation jet spray head 14, close
Seal 25 is mounted in the mounting groove of 16 front end of crossover sub, sealing ring 25 prevent cavitation jet spray head 14 and crossover sub 16 it
Between leak, end cap 27 is fixed on cavitation jet spray head 14 by the second screw 28, and end cap 27 carries out axis to cavitation jet spray head 14
To limit.
Working principle of the present invention is as follows:
Underwater robot ROV1 provides the power of underwater navigation, and underwater robot ROV1 as carrier for cleaning device
The headlamp and camera of itself provide underwater cleaning picture in real time for this cleaning device.Underwater robot ROV1 is navigated by water to ship
When near propeller, according to the features of shape of propeller for vessels, the first waterproof machine 23 drives the sliding block 19 in straight line mould group 22
For linear motion, push rod 2 pushes cavitation jet device rear base 5 to turn an angle around third hinge 18, then underwater
People ROV1, which continues navigation, makes high elastic rubber buffer stopper 12 rest in propeller surface, three 12 conducts of high elastic rubber buffer stopper
Three supporting points can be supported on any position on propeller surface, and high elastic rubber buffer stopper 12 is by underwater robot at this time
The deformation that the impact force that ROV1 generates propeller is converted into itself avoids causing to damage to propeller.
The flexible water conduit 21 connecting with the pumping plant on the bank or on ship deck is that cavitation jet spray head 14 provides high hydraulic pressure, empty
High pressure water is converted to cavitation bubble and is injected on the surface of propeller by change fluid jet nozzle 14, the energy generated when cavitation bubble is crumbled and fall
Amount degrades the dirt on propeller surface.Two nozzle structures in a center of symmetry of cavitation jet spray head 14, in injection, cavitation
The recoil generated at two nozzles of fluid jet nozzle 14 is a pair of of couple and the thrust after axial direction, and couple leads to cavitation
Fluid jet nozzle 14 rotates automatically on crossover sub 16, so that cavitation jet spray head 14 is injected in the area on propeller and becomes larger,
Thrust after axial direction is offset by the sail thrust that underwater robot ROV1 is provided.Second waterproof machine 3 drives the silk on lead screw 7
Thick stick nut 9 moves, other two flange-type linear bearing 15 is oriented to respectively on both threads guiding axis 13 for it, feed screw nut
9 drive crossover subs 16 move in a straight line, and the spray distance between cavitation jet spray head 14 and propeller is caused flexibly to be changed
Become, so that all effectively being cleaned on propeller curved surface with the cleaning point of 14 different distance of cavitation jet spray head.Then underwater
People ROV1 is navigated by water to the next cleaning positions repeated washing process of propeller.Functional reliability is good.
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 (4)
1. a kind of propeller underwater cleaning device, it is characterised in that: including underwater robot ROV (1), the underwater robot
Straight line mould group (22) is installed on ROV (1) internal chassis, the driving slid along is installed sliding on the straight line mould group (22)
Block (19), and driven by the first waterproof machine (23)；Underwater robot ROV (1) one end top is fixedly installed with cavitation
Ejector rear base (5), the cavitation jet device rear base (5) side connect push rod (2) one end by first axle (4), push away
Bar (2) other end is connect by second hinge (20) with driving sliding block (19)；Prolong on the outside of the cavitation jet device rear base (5)
Stretching has triangle supporting plate (501), and leading screw bearing (6) are installed on the cavitation jet device rear base (5) top, the leading screw bearing
(6) middle part passes through lead screw (7), and the second anti-water power of driving lead screw (7) rotation is equipped on the cavitation jet device rear base (5)
Machine (3), the lead screw (7) extend out to the outside of (1) underwater robot ROV, and install feed screw nut (9) outside it, described
Feed screw nut (9) is fixed on support frame (8), and support frame as described above (8) is mounted on crossover sub (16), crossover sub (16)
There are three support frame (8), other two support frame (8) heads to pass through linear guiding axis (13) for circumferencial direction distribution, both threads
The head of property guiding axis (13) and lead screw (7) is equipped with the cavitation jet device front-end bracket (10) parallel with supporting plate (501), and two
The tail portion of linear steering axis (13) is mounted on supporting plate (501) by third hinge (18)；In underwater robot ROV (1)
Portion is also equipped with flexible water conduit (21), and the head of the flexible water conduit (21) is equipped with cavitation jet spray head by transition components
(14)。
2. a kind of propeller underwater cleaning device as described in claim 1, it is characterised in that: cavitation jet device front end branch
Frame (10) is in triangular distribution at semi-annular structure, lead screw (7) and both threads guiding axis (13) in space.
3. a kind of propeller underwater cleaning device as described in claim 1, it is characterised in that: lead screw (7) and both threads are led
The outside of cavitation jet device front-end bracket (10) is stretched out to the head of axis (13), and is kept off by sealed bearing (30), axis
Circle (29) He Kongyong retaining ring (31) is connect with the mounting hole of cavitation jet device front-end bracket (10), cavitation jet device front end branch
The outer end face of frame (10) passes through locking nut (32) or the first screw (26) installation cushioning supportive bar (11), the cushioning supportive bar
(11) head is installed by buffer stopper (12).
4. a kind of propeller underwater cleaning device as described in claim 1, it is characterised in that: the installation knot of the transition components
Structure are as follows: flexible water conduit (21) head passes through flexible hoop tube adaptor (17) coupling adapter (16), the crossover sub (16)
Middle part is extended with rotary table, straight by flange-type on support frame as described above (8) on the rotary table there are three the installations of interval support frame (8)
Spool holds (15) and installs linear guiding axis (13)；Pacified by sealing ring (25) and guide collar (24) described crossover sub (16) one end
It fills cavitation jet spray head (14), the inner face of the cavitation jet spray head (14) passes through the second screw (28) installation end cap (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921297.3A CN109094761B (en) | 2018-08-14 | 2018-08-14 | A kind of propeller underwater cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810921297.3A CN109094761B (en) | 2018-08-14 | 2018-08-14 | A kind of propeller underwater cleaning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109094761A CN109094761A (en) | 2018-12-28 |
| CN109094761B true CN109094761B (en) | 2019-06-14 |
Family
ID=64849520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810921297.3A Active CN109094761B (en) | 2018-08-14 | 2018-08-14 | A kind of propeller underwater cleaning device |
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| Country | Link |
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| CN (1) | CN109094761B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112474084B (en) * | 2020-11-11 | 2022-03-01 | 山东省科学院自动化研究所 | Cavitation jet flow intelligent nozzle and underwater cleaning robot |
| 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 |
| 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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| US3803658A (en) * | 1971-01-14 | 1974-04-16 | J Raubenheimer | Cleaning devices |
| RU2237596C2 (en) * | 2002-10-22 | 2004-10-10 | Шуранов Владимир Михайлович | Device for hydrodynamic cleaning of surfaces |
| 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 |
| CN105964600A (en) * | 2016-07-01 | 2016-09-28 | 青岛炬荣工程科技有限公司 | Novel cavitation jet flow cleaning disc |
| CN206305107U (en) * | 2016-12-12 | 2017-07-07 | 河北工业大学 | A kind of underwater cavitating cleaning robot |
| CN108326753A (en) * | 2018-02-11 | 2018-07-27 | 哈尔滨工业大学 | One kind climbing wall type shot-peening robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3803658A (en) * | 1971-01-14 | 1974-04-16 | J Raubenheimer | Cleaning devices |
| RU2237596C2 (en) * | 2002-10-22 | 2004-10-10 | Шуранов Владимир Михайлович | Device for hydrodynamic cleaning of surfaces |
| 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 |
| CN105964600A (en) * | 2016-07-01 | 2016-09-28 | 青岛炬荣工程科技有限公司 | Novel cavitation jet flow cleaning disc |
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| CN108326753A (en) * | 2018-02-11 | 2018-07-27 | 哈尔滨工业大学 | One kind climbing wall type shot-peening robot |
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| Publication number | Publication date |
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| CN109094761A (en) | 2018-12-28 |
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