CN109795644B - Clamping type propeller cleaning device - Google Patents
Clamping type propeller cleaning device Download PDFInfo
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- CN109795644B CN109795644B CN201910274298.8A CN201910274298A CN109795644B CN 109795644 B CN109795644 B CN 109795644B CN 201910274298 A CN201910274298 A CN 201910274298A CN 109795644 B CN109795644 B CN 109795644B
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Abstract
The invention discloses a clamping type propeller cleaning device, wherein a clamping mechanism comprises an inner clamping rod and an outer clamping rod which are connected through a rotating shaft cross shaft, an electric cylinder is arranged between the tail ends of the two clamping rods, and the other ends of the two clamping rods are respectively connected with a positioning mechanism; each positioning assembly in the positioning mechanism comprises a bracket, a propeller, a battery compartment, an electronic compartment and a spring bracket, wherein the propeller, the battery compartment, the electronic compartment and the spring bracket are arranged in the bracket; two groups of mechanical arms are respectively arranged at the outer sides of the two positioning assemblies, one end of a large arm side plate of each group of mechanical arms is fixed with the positioning assemblies, the other end of the large arm side plate is connected with a small arm side plate shaft, and a spray gun is arranged at the other end of the small arm side plate; and the large arm side plate and the small arm side plate are respectively provided with a large arm electric cylinder and a small arm electric cylinder. The invention adopts the scissor type clamping mechanism and utilizes the electric cylinder as a power source, so that the cleaning device can firmly grasp the surface of the propeller when working underwater, the working position cannot be changed due to the change of water flow, and the cleaning is more accurate and efficient.
Description
Technical Field
The invention belongs to an underwater cleaning device, and particularly relates to a clamping type propeller cleaning device.
Background
When a ship sails in the sea for a long time, a plurality of microorganisms which are difficult to clean are attached to the propeller of the underwater part, and finally the ship is polluted. The attachments can not only damage the protective coating on the surface of the propeller and shorten the service life of the propeller, but also increase the surface roughness of the propeller, increase the navigation resistance of the ship, prolong the navigation time and increase the fuel consumption. Therefore, the cleaning of the propeller attachments is one of important ways for realizing energy conservation and emission reduction of ships.
At present, the cleaning mode of the propeller mainly comprises onshore operation and underwater cleaning, and although onshore operation has the advantage of high cleaning efficiency, onshore cleaning time is long, cost is high, outage loss is easily caused, and transportation cost is increased. In addition, environmental pollution and secondary residue are easily generated. The common underwater cleaning mode is that a diver holds a special cleaner to perform underwater cleaning work, but the underwater work time is long, and the work risk is high.
The latest underwater cleaning device, for example, patent CN106218836A, a multi-stage crawler-type underwater intelligent cleaning robot, can realize 90-degree corner climbing motion, but cannot meet the requirement of motion on the surface of a propeller with a complex curved surface, for example, patent CN107051955A, a buoyancy type negative pressure adsorption cleaner, wherein the cleaner is adsorbed on the surface of a ship body by using the negative pressure generated by the device, but under complex underwater working conditions, the negative pressure adsorption can not realize reliable positioning cleaning due to the influence of water flow.
For example, patent CN109080789A discloses a cleaning device for an underwater automatic cleaning device for propellers, which uses thrust generated by a propeller to vertically position three positioning rods on the surface of a propeller, and then uses a manipulator to clamp a cavitation cleaning device to perform local cleaning, but only moves a single side according to a path to perform cleaning.
As described in patent CN109080791A, the underwater cleaning device for propeller and the method thereof, the cleaning disc can be cleaned while adsorbing the surface of the propeller, but the device is hung in water and works, and because of the existence of water flow, the device moves relative to the propeller, the requirement for the operation of the manipulator is higher, and the cleaning difficulty is higher.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides a clamping type propeller cleaning device which can be firmly clamped on the surface of a propeller without damaging the surface of the propeller, and cleaning mechanical arms are symmetrically arranged on the device, so that the front side and the back side of the propeller can be cleaned simultaneously through one-time positioning.
The technical scheme is as follows: the invention discloses a clamping type propeller cleaning device which comprises a mechanical arm, a positioning mechanism and a clamping mechanism, wherein the mechanical arm is connected with the positioning mechanism; the clamping mechanism comprises an inner clamping rod and an outer clamping rod which are connected through a rotating shaft cross shaft, an electric cylinder is arranged between the tail ends of the two clamping rods, and the other ends of the two clamping rods are respectively connected to the positioning mechanism; the positioning mechanism comprises two positioning assemblies which are symmetrically arranged, the two positioning assemblies are arranged one above the other, each positioning assembly comprises a support, a propeller, a battery compartment, an electronic compartment and a spring support, the propeller, the battery compartment, the electronic compartment and the spring supports are arranged in the supports in an opposite and staggered manner, and the electronic compartments respectively control the motion of the electric cylinder and the propeller; the two groups of mechanical arms are arranged at the top of the upper-layer positioning assembly and the bottom of the lower-layer positioning assembly respectively, each group of mechanical arms comprises a large-arm side plate, a small-arm side plate and a spray gun, one end of the large-arm side plate is fixed with the positioning assembly, the other end of the large-arm side plate is connected with the small-arm side plate through a shaft, and the spray gun is arranged at the other end of the small-arm side plate; a large arm electric cylinder and a small arm electric cylinder are respectively arranged on the large arm side plate and the small arm side plate; the two spray guns are connected to a water pipe, one end of each spray gun is a nozzle, and the other end of each spray gun is connected to the water pipe, and the water pipe is communicated with high-pressure water supply equipment on the shore to clean the propeller according to the cavitation principle.
For convenience of operation, an electric cylinder in the clamping mechanism drives the positioning mechanism to clamp or loosen the propeller blades, and the inner clamping rod and the outer clamping rod rotate by corresponding angles around the rotating shaft; the inner clamping rod and the outer clamping rod are respectively connected with an upper bracket and a lower bracket in the positioning mechanism.
Further, an underwater cradle head is arranged in the support through a bottom plate, and a lighting lamp and a camera are assembled on the underwater cradle head; the support is provided with the propellers, the propellers are symmetrically arranged up and down and comprise the propellers with the angle of 45 degrees and the longitudinal propellers, the horizontal propellers and the longitudinal propellers respectively realize underwater horizontal movement and underwater longitudinal movement, and the spring support is arranged on the support through the connecting plate.
In order to enhance the cleaning efficiency, the large-arm electric cylinder and the small-arm electric cylinder drive the mechanical arm to do pitching motion and transverse circular motion relative to the propeller, the spray gun adopts a cavitation jet spray gun, and the spray gun is fixed on the small-arm side plate through a clamping piece.
Further, spring bracket includes sleeve and bracing piece, sleeve one end is fixed in the connecting plate, and the bracing piece has been arranged to spring and spring top in the sleeve, the bracing piece outwards stretches out from the sleeve, contradicts the spring behind the bracing piece other end contact screw, and the spring takes place to deform and makes the bracing piece elastically stretch out and draw back from top to bottom, and then can carry on spacingly.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the invention adopts the scissor type clamping mechanism and utilizes the electric cylinder as a power source, so that the cleaning device can firmly grasp the surface of the propeller when working underwater, and the working position cannot be changed due to the change of water flow, thereby the mechanical arm can more reliably position the cleaning area, and the cleaning is more accurate and efficient.
(2) The cleaning device is provided with two cleaning manipulators which are symmetrically arranged on two sides of the propeller, so that two sides of the propeller blade can be cleaned simultaneously, and the cleaning efficiency is improved.
(3) The invention adopts the cavitation jet cleaning technology, can effectively clean pollutants attached to the surface of the propeller without damaging the surface of the propeller
(4) The invention is provided with the camera and the searchlight, can monitor the whole cleaning process in real time, is convenient for operators to adjust in time and ensures the cleaning effect.
(5) The positioning device adopts a telescopic supporting structure, and the supporting structure has a certain spring telescopic amount after contacting the surface of the propeller, so that the surface of the propeller blade cannot be damaged due to overlarge clamping force of the clamping mechanism.
Drawings
FIG. 1 is a schematic view of the integrated apparatus of the present invention moving underwater;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of a robotic arm according to the present invention;
FIG. 4 is a schematic view of the spring assembly of the present invention;
fig. 5 is a schematic diagram of the operation of the present invention to position the surface of the propeller during actual cleaning.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1 to 2, the clamping type propeller cleaning device of the present invention includes a robot arm 2, a positioning mechanism 1, and a clamping mechanism 3. The clamping mechanism 3 comprises an inner clamping rod 33 and an outer clamping rod 31 which are connected by a rotating shaft 34 in a crossed mode, and an electric cylinder 32 is installed between the tail ends of the two clamping rods. The positioning mechanism 2 comprises two symmetrically-arranged positioning assemblies, the two positioning assemblies are arranged one above the other, each positioning assembly comprises a support 13, a propeller 12 arranged in the support 13, a battery compartment 11 and a spring support 16, and the spring supports 16 in the two positioning assemblies are arranged oppositely. Still be equipped with bottom plate 15 and connecting plate 17 on the support 13, be equipped with cloud platform 14 under water on the bottom plate 15, be equipped with spring bracket 16 on the connecting plate 17, bottom plate 15 and connecting plate 17 pass through screw connection in support 13, and propeller 12 arranges around support 13.
As shown in fig. 2 and 3, each positioning assembly is provided with one mechanical arm 2, each mechanical arm 2 comprises a base 28, a large arm side plate 22 is arranged on the base 28, the large arm side plate 22 is connected with a small arm side plate 23 through a shaft, a large arm electric cylinder 21 and a small arm electric cylinder 26 drive the large arm side plate 22 and the small arm side plate 23 to complete pitching movement, and a cavitation jet spray gun 25 is arranged between the small arm side plates 21.
As shown in fig. 4, the spring bracket includes a sleeve 163, a spring 162 is disposed between the sleeve 163 and the support rod 161, and the support rod 161 protrudes to the side plate to limit the position.
The working principle of the invention is as follows:
the positioning mechanism 1 is provided with a bottom plate 15, the mechanical arm 2 is installed on the bottom plate 15 through a base 28, the clamping mechanism 3 is in a scissor shape, the electric cylinder 32 serves as a power source and is connected to the upper end and the lower end of the clamping mechanism 3, a rotating shaft 34 is arranged in the middle of the clamping mechanism 3, the clamping mechanism rotates around the rotating shaft 34, when the device moves forwards in water according to a preset route, the mechanical arm 2 is in a state shown in figure 1, the electric cylinder 32 contracts for a certain distance, the positioning mechanism 1 is in a clamping state, and resistance of the device in the water in the advancing process.
When the device is close to the propeller, a push rod of an electric cylinder 32 of the clamping mechanism 3 extends out, the positioning mechanism 1 is opened, the battery cabin 11 provides electric energy, a camera on the underwater pan-tilt 14 starts to monitor in real time, when the propeller blades are positioned between the positioning mechanisms 1, the position of a propeller 12 of the positioning mechanism 1 is adjusted, the push rod of the electric cylinder 32 of the clamping mechanism 3 contracts for a certain distance, the vertical distance of the positioning mechanism 1 is reduced, the spring support 16 is in contact with the surfaces of the propeller blades, the spring 162 is stressed and contracts for a certain distance, the whole cleaning device clamps the propeller accordingly, an operator provides pictures through the underwater pan-tilt 14, the mechanical arm 2 is adjusted to rotate for a certain angle, and the cavitation jet gun 25 jets high-pressure water provided by the high-pressure water supply device to wash dirt.
The mechanical arm 2 is installed at a rotary base 27 through a base 28, the large arm side plate 22 and the small arm side plate 23 support the mechanical arm to move, the cavitation jet spray gun 25 is fixed in the middle of the small arm side plate 23 through a clamping piece 24, the large arm electric cylinder 21 is connected with the large arm side plate 22 and the base 28, the small arm electric cylinder 26 is connected with the large arm side plate 22 and the small arm side plate 23, the mechanical arm 2 has three degrees of freedom, the rotary base 27 increases the horizontal cleaning range of the mechanical arm 2, and the large arm electric cylinder 21 and the small arm electric cylinder 26 guarantee the distance between the spray gun 25 and a cleaning surface together.
After the maximum cleaning range of the mechanical arm is covered, the cleaning device is adjusted to be in the position on the propeller, the clamping mechanism 3 works, the clamping force of the device on the surface of the propeller is reduced, the propeller 12 works, the cleaning device moves for a certain distance, and the mechanical arm continues to perform cleaning work until the mechanical arm is cleaned for a circle along the outline of the propeller.
According to the embodiment, the surface of the propeller can be cleaned only by operating the mechanical arm, meanwhile, the scissor-shaped clamping structure design can eliminate the influence of water flow to the maximum degree, the mechanical arm with high degree of freedom can clean a designated area, and in addition, the double-sided cleaning device is provided with a symmetrical structure, can clean double sides along the outline of the propeller, and is higher in efficiency.
Claims (5)
1. The utility model provides a centre gripping formula screw belt cleaning device which characterized in that: comprises a mechanical arm, a positioning mechanism and a clamping mechanism; the clamping mechanism comprises an inner clamping rod and an outer clamping rod which are connected through a rotating shaft cross shaft, an electric cylinder is arranged between the tail ends of the two clamping rods, and the other ends of the two clamping rods are respectively connected to the positioning mechanism;
the positioning mechanism comprises two positioning assemblies which are symmetrically arranged, the two positioning assemblies are arranged one above the other, each positioning assembly comprises a support, a propeller, a battery compartment, an electronic compartment and a spring support, the propeller, the battery compartment, the electronic compartment and the spring support are arranged in the supports, the spring supports in the two positioning assemblies are arranged in opposite directions, and the electronic compartment controls the motion of the electric cylinder and the propeller respectively;
the two groups of mechanical arms are arranged at the top of the upper-layer positioning assembly and the bottom of the lower-layer positioning assembly respectively, each group of mechanical arms comprises a large-arm side plate, a small-arm side plate and a spray gun, one end of the large-arm side plate is fixed with the positioning assembly, the other end of the large-arm side plate is connected with the small-arm side plate through a shaft, and the spray gun is arranged at the other end of the small-arm side plate; a large arm electric cylinder and a small arm electric cylinder are respectively arranged on the large arm side plate and the small arm side plate; the two spray guns are connected to a water pipe, one end of each spray gun is a nozzle, and the other end of each spray gun is connected to the water pipe, and the water pipe is communicated with high-pressure water supply equipment on the shore to clean the propeller according to the cavitation principle.
2. The clamp-on propeller cleaning device of claim 1, wherein: an electric cylinder in the clamping mechanism drives a positioning mechanism to clamp or loosen the propeller blades, and an inner clamping rod and an outer clamping rod rotate by corresponding angles around a rotating shaft; the inner clamping rod and the outer clamping rod are respectively connected with an upper bracket and a lower bracket in the positioning mechanism.
3. The clamp-on propeller cleaning device of claim 1, wherein: an underwater cradle head is also arranged in the support through a bottom plate, and an illuminating lamp and a camera are assembled on the underwater cradle head; the support is provided with the propellers, the propellers are symmetrically arranged up and down and comprise the horizontal 45-degree propeller and the vertical propeller, the horizontal 45-degree propeller and the vertical propeller can respectively move horizontally and vertically underwater, and the spring support is arranged on the support through the connecting plate.
4. The clamp-on propeller cleaning device of claim 1, wherein: the large-arm electric cylinder and the small-arm electric cylinder drive the mechanical arm to do pitching motion and transverse circular motion relative to the propeller, the spray gun adopts a cavitation jet spray gun, and the spray gun is fixed on the small-arm side plate through a clamping piece.
5. The clamp-on propeller cleaning device of claim 3, wherein: the spring support comprises a sleeve and a supporting rod, one end of the sleeve is fixed on the connecting plate, the supporting rod is arranged above a spring and the spring in the sleeve, the supporting rod extends out of the sleeve, the other end of the supporting rod contacts with the screw and then abuts against the spring, and the spring deforms to enable the supporting rod to elastically stretch out and draw back up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910274298.8A CN109795644B (en) | 2019-04-08 | 2019-04-08 | Clamping type propeller cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910274298.8A CN109795644B (en) | 2019-04-08 | 2019-04-08 | Clamping type propeller cleaning device |
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| Publication Number | Publication Date |
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| CN109795644A CN109795644A (en) | 2019-05-24 |
| CN109795644B true CN109795644B (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910274298.8A Active CN109795644B (en) | 2019-04-08 | 2019-04-08 | Clamping type propeller cleaning device |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375891B (en) * | 2019-07-17 | 2021-05-11 | 西湖大学 | Underwater cleaning disc acting force testing device and acting force measuring method |
| CN111169596B (en) * | 2020-01-06 | 2021-01-05 | 山东胜源建筑工程有限公司 | Floating channel lamp convenient for position adjustment |
| CN111498071A (en) * | 2020-04-08 | 2020-08-07 | 邱日 | Device and method for preventing marine propeller from being biofouling |
| CN112660321B (en) * | 2020-12-10 | 2023-06-06 | 江苏科技大学 | Underwater cleaning device for marine equipment |
| CN112519978B (en) * | 2020-12-10 | 2022-04-15 | 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 |
| CN114733829B (en) * | 2022-06-13 | 2022-09-06 | 青岛儒海船舶工程有限公司 | Two-sided equipment of decontaminating is used in maintenance of segmentation boats and ships screw |
| 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 |
Family Cites Families (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 |
| US6823811B1 (en) * | 2003-12-18 | 2004-11-30 | Michael L. Drake | Buoy board |
| US9254509B2 (en) * | 2012-04-05 | 2016-02-09 | Cggveritas Services Sa | Active cleaning device for seismic streamers and related methods |
| CN105751226B (en) * | 2016-04-26 | 2017-10-03 | 哈尔滨工程大学 | A kind of negative-pressure adsorption aids in clipping underwater steel construction cleaning robot with double-manipulator |
| CN108296231B (en) * | 2018-01-04 | 2019-11-08 | 山东大学 | Mobile mechanism applied to offshore oilfield wellhead platform pipeline cleaning |
| CN109080789A (en) * | 2018-08-14 | 2018-12-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of cleaning device of propeller underwater automatic cleaning equipment |
| CN109080790B (en) * | 2018-08-14 | 2020-02-07 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater automatic cleaning equipment for propeller and cleaning method thereof |
| CN109015712B (en) * | 2018-08-16 | 2022-04-08 | 河钢工业技术服务有限公司 | Multidirectional clamping device for underwater robot |
| CN109367640B (en) * | 2018-12-06 | 2020-08-28 | 山东大学 | Self-adaptive device for drill platform jacket |
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