CN109823490A - A kind of modularization propeller cleaning device - Google Patents
A kind of modularization propeller cleaning device Download PDFInfo
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- CN109823490A CN109823490A CN201910279467.7A CN201910279467A CN109823490A CN 109823490 A CN109823490 A CN 109823490A CN 201910279467 A CN201910279467 A CN 201910279467A CN 109823490 A CN109823490 A CN 109823490A
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- component
- underwater robot
- propeller
- lifting structure
- cleaning
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Abstract
The present invention discloses a kind of modularization propeller cleaning device, including underwater robot component, lifting structure component, mechanical paw component and cleaning assembly, underwater robot component is installed on the first frame, lifting structure component is installed in the first frame, and underwater robot component is mounted as a whole on above lifting structure component, is followed the lifting of lifting structure component and is risen and fallen；It is connected with mechanical paw component below lifting structure component, mechanical paw component is positioned at propeller；Cleaning assembly is installed on underwater robot component side by clamp hand.The present invention, which is effectively prevented from, can not be accurately positioned in the prior art and the problem of function modoularization, substantially increase the reliability and diversity of work.
Description
Technical field
The invention belongs to underwater cleaning technologies, and in particular to a kind of modularization propeller cleaning device.
Background technique
Propeller is the important component on ship.After ship's navigation for a period of time, propeller surface can adsorb absurd creature, cause
Shipping sail speed is slack-off, consumes more energy, increases navigation cost.Therefore, it is necessary to propeller periodic cleaning.
Currently, being used for the device of underwater cleaning, such as 109080789 A of patent CN, entitled " a kind of propeller is underwater certainly
In the patent document of the cleaning device of dynamic cleaning equipment ", only completes and propeller is cleaned automatically under water, when wave is larger
When, no mechanical localization mechanism has that cleaning device and propeller cannot accurately keep relatively fixed position relationship, leads
Cause the presence of the place for repeating to omit in cleaning process.
Also such as 109080791 A of patent CN, the patent document of entitled " propeller underwater cleaning device and method "
In, only with manipulator clamping cleaning device, required freedom degree when cleaning is provided, when cleaning large-size propeller, is caused clear
There is the place of less cleaning during washing.
For another example 203652095 U of patent CN, in the patent document of entitled " a kind of novel and multifunctional underwater robot ",
The repairing and cleaning to single underwater culture net are completed, but without modular design, disassembly maintenance is inconvenient, also cannot
Meet the cleaning to other underwater similar objects.
Summary of the invention
Goal of the invention: it is an object of the invention to solve the deficiencies in the prior art, a kind of modularization spiral is provided
Paddle cleaning device, can be effectively avoided can not be accurately positioned in the prior art and the problem of function modoularization, substantially increase
The reliability and diversity of work.
Technical solution: a kind of modularization propeller cleaning device of the invention, including underwater robot component, lifting structure
Component, mechanical paw component and cleaning assembly, the underwater robot component and lifting structure component are mounted on the first frame
It is interior, and underwater robot component is mounted as a whole on above lifting structure component, follows one lifting of lifting structure component；The liter
It is connected with mechanical paw component below drop construction package, mechanical paw component is positioned at propeller；The cleaning assembly passes through folder
Hand is installed on underwater robot component side.
Further, the underwater robot component is set on the first frame, is sequentially installed with electronics on the first frame
Cabin, electric compartment and job platform, be equipped on job platform two vertical direction propellers being arranged symmetrically and it is horizontal with four
Underwater robot is in 45 degree of propellers.Each propeller, which passes through iron band one and is bolted, to be mounted on job platform, each to push away
It is moved under water into thrust control whole device is generated when device work.Electric compartment provides power for components such as propellers.
Further, the lifting structure component includes mounting plate and two groups of movable supports, and two groups of friendships are installed on mounting plate
The movable support placed is pitched, third electric cylinder is equipped between two groups of movable supports, has side to support in every group of movable support
Equipped with idler wheel, movement of the movable support on mounting plate and workbench bottom when in order to go up and down is driven by third electric cylinder
Job platform on movable support realizes lifting.
Further, the mechanical paw component includes bottom plate, and bottom plate is connected with the bottom mounting plate of elevating mechanism component,
Two pairs of corresponding grippers are installed under bottom plate, shaft is equipped on each pair of gripper, is connected between two shafts using shaft coupling, it is described
Two groups of grippers pass through the first electric cylinder and are connected with bottom plate and realize opening and withdraw, and pass through the second electric cylinder on every gripper
It is connected with finger, the second electric cylinder of finger, which is realized, to be opened and withdraw.
Further, the cleaning assembly is connected by clamp hand with manipulator, and the other end of manipulator is connected to underwater machine
Device people's component；Equipped with video camera on cleaning device, the manipulator is set to the electronic slide unit of underwater robot, and manipulator
Equipped with cylinder.
The utility model has the advantages that compared with prior art, the invention has the following advantages that
1, by mechanical paw component be able to maintain underwater robot in water with propeller relatively fixed position relationship,
The delivery outlet for being conducive to cleaning device can accurately clean to each place of propeller, do not omit and do not repeat.
2, the present invention is whole uses modular structure, each module corresponds to each function, can between each module
Disassembly, if breaking down, easily investigation maintenance.And when a kind of propeller is produced, parameters are it is known that spiral can be established
Database between paddle and cleaning device, after having cleaned a propeller, each reconfigurable next spiral shell of cleaning of module
Revolve paddle.
3, by lifting structure and electronic slide unit underwater robot is radially and circumferentially moved along blade, so this
Cleaning device is adapted to the cleaning of large-scale blade.
Detailed description of the invention
Fig. 1 is that the present invention enters structural schematic diagram when water does not work；
Fig. 2 is that the present invention enters structural schematic diagram when water conservancy project is made；
Fig. 3 is lifting device structure schematic diagram in the present invention；
Structural schematic diagram when Fig. 4 is mechanical paw device work in the present invention；
Fig. 5 is positioning schematic diagram of the present invention in practical application cleaning process.
Wherein: 1, underwater robot；11, the first frame；12, electronic compartment；13, propeller；14, electric compartment；15, operation horizontal
Platform；16, electronic slide unit；17, iron band；18, block；2, lifting device；21, mounting plate；22, movable support；23, third is electronic
Cylinder；24, idler wheel；3, mechanical paw device；31, gripper bottom plate；32, shaft；33, shaft coupling；34, electric cylinders seat；35, first is electronic
Cylinder；36, gripper；37, finger；38, the second electric cylinder；4, cleaning device；41, video camera；5, manipulator；51, clamp hand；6, spiral
Paddle；61, blade；62, paddle shaft.
Specific embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
As shown in Figures 1 to 4, a kind of modularization propeller cleaning device of the invention, including underwater robot component 1, liter
Construction package 2, mechanical paw component 3 and cleaning assembly 4 drop, and underwater robot component 1 is installed on 11 top of the first frame, lifting
Construction package 2 is installed in the first frame 11, and underwater robot component 1 is mounted as a whole on 2 top of lifting structure component, follows
The lifting of lifting structure component 2 and rise and fall；Mechanical paw component 3, mechanical paw component 3 are connected with below lifting structure component 2
It is positioned at propeller 6；Cleaning assembly 4 is installed on the electronic slide unit 16 of 1 side of underwater robot component by clamp hand 51.Under water
Robot assembly 1 is set on the first frame 11, and electronic compartment 12, electric compartment 14 and operation horizontal are sequentially installed on the first frame 11
Platform 15, electronic compartment 12 and electric compartment 14 are fixed on job platform 15 by iron band 17 and block 18 with bolt connecting mode,
Two vertical direction propellers being arranged symmetrically and level are installed on job platform 15 and pushed away with four underwater robots in 45 degree
Into device.Lifting structure component 2 includes mounting plate 21 and two groups of movable supports 22, and the work of two groups of intersections placement is installed on mounting plate 21
Bracket 22 is moved, third electric cylinder 23 is equipped between two groups of movable supports 22, has side to support in every group of movable support 22 and sets
There is idler wheel 24, drives the job platform 15 on movable support to realize lifting by third electric cylinder 23.Mechanical paw component 3 includes
Bottom plate 31, bottom plate 31 are connected with the bottom mounting plate 21 of elevating mechanism component 2, and bottom plate 31 is lower to install two pairs of corresponding grippers 36,
It is equipped with shaft 32 on each pair of gripper 36, is connected between two shafts 32 using shaft coupling 33, two groups of grippers 36 pass through first
Electric cylinder 35 is connected with bottom plate 31 and realizes opening and withdraw, and is connected with finger by the second electric cylinder 38 on every gripper
37, finger 37 is realized by the second electric cylinder 38 to be opened and withdraws.Cleaning assembly 4 is connected by clamp hand 51 with manipulator 5, mechanical
Hand 5 is placed on the electronic slide unit 16 of underwater robot component 1；Equipped with video camera 41 on cleaning device 4.
In the present invention, the second electric cylinder 38 is used in mechanical paw component 3 and with motor direct-drive, so that finger 37 can
To open any position, gripper 36 and finger 37 is allowed firmly to clamp paddle shaft 62.Meanwhile lifting structure uses scissor-type liter
Drop machine structure, by third electric cylinder 23 push the work forward the underwater robot component 1 on platform 15 lifting, adjust operation height.
Concrete operating principle of the invention are as follows:
Step 1: Underwater Navigation.Into the water by underwater propeller automatic flushing device, it is utilized by console on the bank
Underwater robot 1 is moved to 62 top of paddle shaft by control crank, by two the first electric cylinders 35 respectively by mechanical paw device
Upper 3 left and right gripper 36 rotates 90 degree of expansion along shaft 32, by four the second electric cylinders 38 respectively by the hand on gripper 36
Refer to 37 expansion, underwater robot 1 continues dive, and until gripper 36 touches paddle shaft 62, the recycling of finger 37 is embraced paddle shaft 62, completed
The positioning of underwater robot 1.Control crank and console use existing commercially available model.
Step 2: single Ye Qingxi.According to 6 picture of propeller that the video camera 41 carried on cleaning structure 4 is shot, water is controlled
The cleaning structure 4 clamped on lower manipulator 5 completes the cleaning close to blade 61 at paddle shaft 62, by third electric cylinder 22 with movement
Industry platform 15 rises, and controls the cleaning that the cleaning structure 4 that underwater manipulator 5 clamps completes middle blade 61, third electricity again
Dynamic cylinder 22 drives job platform 15 to rise to extreme higher position, and the cleaning structure 4 that control underwater manipulator 5 clamps completes edge paddle
The cleaning of leaf 61.
Step 3: leafy cleaning.The finger 37 of mechanical paw component 3 is opened, underwater robot 1 rotates centainly around paddle shaft 62
Angle a piece of 61 front of blade under, finger 37 is recycled by the second electric cylinder 38, embraces paddle shaft 62, repeat the clear of step 2
Content is washed, the cleaning of second blade 61 is completed, is then sequentially completed the cleaning content of all blades 61.
Step 4: device recycling.Cleaning structure 4 stops water outlet, and job platform 15 drops to most initial position, mechanical paw
Finger 37 on component 3 opens, and dives on underwater robot 1, and mechanical paw component 3 is recovered to 11 bottom of the first frame, controls water
Lower robot 1, which emerges and slings, to be collected, and 6 underwater cleaning of propeller is completed.
Claims (5)
1. a kind of modularization propeller cleaning device, it is characterised in that: including underwater robot component, lifting structure component, machine
Tool gripper component and cleaning assembly, underwater robot component are installed on above the first frame, and lifting structure component is installed on first
In frame, and underwater robot component is mounted as a whole on above lifting structure component, is followed the lifting of lifting structure component and is risen
It falls；It is connected with mechanical paw component below the lifting structure component, mechanical paw component is positioned at propeller；The cleaning group
Part is installed on underwater robot component side by clamp hand.
2. modularization propeller automatic flushing device according to claim 1, it is characterised in that: the underwater robot group
Part is set on the first frame, and electronic compartment, electric compartment and job platform are sequentially installed on the first frame, is installed on job platform
There are two vertical direction propellers being arranged symmetrically and four levels and underwater robot in 45 degree of propellers.
3. modularization propeller automatic flushing device according to claim 1, it is characterised in that: the lifting structure component
Including one layer of mounting plate and two groups of movable supports, the movable support of two groups of intersections placement, two groups of movable supports are installed on mounting plate
Between be equipped with third electric cylinder, there is in every group of movable support side support to be equipped with idler wheel, pass through third electric cylinder and drive and live
Job platform on dynamic bracket realizes lifting.
4. modularization propeller automatic flushing device according to claim 1, it is characterised in that: the mechanical paw component
Including bottom plate, bottom plate is connected with the bottom mounting plate of elevating mechanism component, and two pairs of corresponding grippers, each pair of gripper are installed under bottom plate
On be equipped with shaft, be connected between two shafts using shaft coupling, two groups of grippers pass through the first electric cylinder and bottom plate phase
Connect and realize opening and withdraw, and finger is connected with by the second electric cylinder on every gripper, the second electric cylinder of finger, which is realized, to be opened
It opens and withdraws.
5. modularization propeller automatic flushing device according to claim 1, it is characterised in that: the cleaning assembly passes through
Clamp hand is connected with manipulator, and the other end of manipulator is connected to underwater robot component；Equipped with camera, institute on cleaning device
The electronic slide unit that manipulator is set to underwater robot is stated, and manipulator is equipped with cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910279467.7A CN109823490A (en) | 2019-04-09 | 2019-04-09 | A kind of modularization propeller cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910279467.7A CN109823490A (en) | 2019-04-09 | 2019-04-09 | A kind of modularization propeller cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109823490A true CN109823490A (en) | 2019-05-31 |
Family
ID=66874269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910279467.7A Pending CN109823490A (en) | 2019-04-09 | 2019-04-09 | A kind of modularization propeller cleaning device |
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| CN (1) | CN109823490A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562413A (en) * | 2019-08-05 | 2019-12-13 | 中国计量大学 | Hydrofoil surface attachment multi freedom cutting device |
| CN110588918A (en) * | 2019-08-05 | 2019-12-20 | 中国计量大学 | Hydrofoil structure surface attachment clearing device |
| 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 |
| CN113501117A (en) * | 2021-07-26 | 2021-10-15 | 深圳市朗非创新科技有限公司 | Underwater propeller and cleaning method of underwater propeller |
| WO2022121202A1 (en) * | 2020-12-10 | 2022-06-16 | 江苏科技大学 | Underwater cleaning device for marine equipment and cleaning control method therefor |
| CN114733829A (en) * | 2022-06-13 | 2022-07-12 | 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 |
| CN115042944A (en) * | 2022-06-21 | 2022-09-13 | 任天海 | Underwater unpowered cleaning device for marine propeller |
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| CN102910270A (en) * | 2012-10-09 | 2013-02-06 | 山东交通学院 | Bottom underwater cleaner for large vessels |
| KR20140092108A (en) * | 2013-01-15 | 2014-07-23 | 현대중공업 주식회사 | Cleaning apparatus for propeller of ship |
| CN204642122U (en) * | 2015-02-13 | 2015-09-16 | 上海摩西海洋工程股份有限公司 | Robot is cleared up under marine water |
| CN205186480U (en) * | 2015-12-15 | 2016-04-27 | 杭州富阳真力机械有限公司 | Dedicated platform is washd to ten thousand tons of cargo ship large -spans |
| 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 |
| CN109333301A (en) * | 2018-11-19 | 2019-02-15 | 江苏科技大学 | A kind of mobile spiral paddle cleaning device |
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2019
- 2019-04-09 CN CN201910279467.7A patent/CN109823490A/en active Pending
Patent Citations (6)
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| CN102910270A (en) * | 2012-10-09 | 2013-02-06 | 山东交通学院 | Bottom underwater cleaner for large vessels |
| KR20140092108A (en) * | 2013-01-15 | 2014-07-23 | 현대중공업 주식회사 | Cleaning apparatus for propeller of ship |
| CN204642122U (en) * | 2015-02-13 | 2015-09-16 | 上海摩西海洋工程股份有限公司 | Robot is cleared up under marine water |
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| CN109333301A (en) * | 2018-11-19 | 2019-02-15 | 江苏科技大学 | A kind of mobile spiral paddle cleaning device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562413A (en) * | 2019-08-05 | 2019-12-13 | 中国计量大学 | Hydrofoil surface attachment multi freedom cutting device |
| CN110588918A (en) * | 2019-08-05 | 2019-12-20 | 中国计量大学 | Hydrofoil structure surface attachment clearing device |
| 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 |
| WO2022121202A1 (en) * | 2020-12-10 | 2022-06-16 | 江苏科技大学 | Underwater cleaning device for marine equipment and cleaning control method therefor |
| WO2022121212A1 (en) * | 2020-12-10 | 2022-06-16 | 江苏科技大学 | Underwater cleaning device for ship propeller and cleaning method therefor |
| 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 |
| CN113501117A (en) * | 2021-07-26 | 2021-10-15 | 深圳市朗非创新科技有限公司 | Underwater propeller and cleaning method of underwater propeller |
| CN114733829A (en) * | 2022-06-13 | 2022-07-12 | 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 |
| CN115042944A (en) * | 2022-06-21 | 2022-09-13 | 任天海 | Underwater unpowered cleaning device for marine propeller |
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Application publication date: 20190531 |
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| RJ01 | Rejection of invention patent application after publication |