CN110282092A - A kind of under-water body cleaning robot - Google Patents
A kind of under-water body cleaning robot Download PDFInfo
- Publication number
- CN110282092A CN110282092A CN201910729135.4A CN201910729135A CN110282092A CN 110282092 A CN110282092 A CN 110282092A CN 201910729135 A CN201910729135 A CN 201910729135A CN 110282092 A CN110282092 A CN 110282092A
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- CN
- China
- Prior art keywords
- rack
- propeller
- fixed
- compensator
- water body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- 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
- B63B2059/087—Cleaning devices for hulls of underwater surfaces while afloat the devices being adapted for being pulled across, or along the underwater surface to be cleaned, e.g. by ropes
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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
The present invention provides a kind of under-water body cleaning robots, light weight, facilitates carrying, and cleaning efficiency is high, hull is cleaned by manual operation robot, so that the ship resistance of ship reduces, less oil consumption extends lying up the period for ship, to improve conevying efficiency, ship cost of upkeep is reduced, and then is increased economic efficiency, while can also ensure that the safety of construction personnel compared with artificial washing and cleaning operation mode.The aluminium alloy part that robot body is aoxidized using 304 stainless steels and surface hard; several disconnectable sacrificial anode rings are installed simultaneously; important part is protected not corroded; anti-collision adhesive tape is secured in robot frame; so that the good corrosion resistance of robot, overall structure are reliable, the service life of robot is greatly extended.
Description
Technical field
The present invention relates to underwater robot field more particularly to a kind of under-water body cleaning robots.
Background technique
After navigation after a period of time, the underwater portion of hull can be adhered to marine vessel by one layer of marine organisms,
The route speed that this will lead to ship is slack-off, and oil consumption increases, so that the economic cost of sea transport increases, and artificial cleaning efficiency
Low, danger coefficient is high, while can carry out the dock relative deficiency of hull cleaning, and cleaning charge is expensive, so developing a energy
The robot for enough cleaning under-water body attachment is imperative.
Summary of the invention
The present invention provides a kind of under-water body cleaning robot, light weight facilitates carrying, and cleaning efficiency is high, passes through people
Work operation robot cleans hull, so that the ship resistance of ship reduces, less oil consumption extends lying up week for ship
Phase reduces ship cost of upkeep, and then increase economic efficiency to improve conevying efficiency, at the same with artificial washing and cleaning operation mode
Compare the safety that can also ensure that construction personnel.The aluminium alloy portion that robot body is aoxidized using 304 stainless steels and surface hard
Part, while several disconnectable sacrificial anode rings being installed, it protects important part not corroded, is secured in robot frame anti-
Adhesive tape is hit, so that the good corrosion resistance of robot, overall structure are reliable, greatly extends the service life of robot.
In order to solve the above technical problems, the embodiment of the present application provides a kind of under-water body cleaning robot, including upper casing,
Eyenut, hanging ring gasket, headlamp, camera, anti-collision adhesive tape, rack, universal wheel, propeller 1, propeller 2, winding displacement version,
Control cabinet, upending frame, camera shooting headstock, illuminating lamp holder, sacrificial anode ring, compensator, compensator seat, cleaning module seat, cleaning mould
Block fastener, cleaning module, propeller seat 1 and propeller seat 2, which is characterized in that the camera shooting headstock is solid between two parties by bolt
Rack both ends, each one of front and back are scheduled on, camera is fixed on camera shooting headstock by hose clamp, and illuminating lamp holder is bolted on
Rack both ends are located at camera shooting headstock two sides, and each two of front and back, anti-collision adhesive tape covers on the anti-collision side of rack, and universal wheel passes through spiral shell
Bolt is fixed on four angles of bottom of the frame, and propeller seat 1 is bolted on rack both ends, each two of front and back, propeller 1
It is fixed on propeller seat 1, is distributed in outer "eight" shape, it is vertical that propeller 2 is bolted on rack side by hose clamp
Stainless steel plate on, propeller 2 is fixed on propeller seat 2 by hose clamp, and winding displacement version is bolted on above rack, two
A cleaning module seat is bolted below central rack on two pieces of vertical stainless steel plates, and cleaning module passes through cleaning mould
On cleaning module seat, control cabinet is bolted on the stainless steel plate of central rack level block fastener fixing, and is passed through
Watertight cable is connected with propeller 1, propeller 2, headlamp, camera and cleaning module, and upending frame is bolted on rack
On, it is located at right above control cabinet, compensator seat is bolted on the vertical stainless steel plate of central rack, and compensator passes through
Hose clamp is fixed on compensator seat, and is managed by PU and be connected with cleaning module, and upper casing is fixed by eyenut and hanging ring gasket
Side on the rack.
As the preferred embodiment of this programme, the long 980mm of the rack, wide 650mm, high 332mm, mainframe is outer diameter
The stainless steel tube of 30mm, wall thickness 2mm are welded with the stainless steel plate of thickness 2mm inside and outside stainless steel tube, are welded among rack
Horizontal positioned control cabinet fixed plate, control cabinet fixed plate downward vertical welds compensator fixed plate, among rack below round tube
Two pieces of cleaning module fixed plates of vertical welding, the stainless steel material that rack integrally uses are 304 stainless steels.
As the preferred embodiment of this programme, the upper casing long 970mm, wide 640mm, high 120mm, material PMI is close
Spend 400kg/m3, intermediate sky diameter 80mm, Quadrilateral zone diameter 142mm, quadrangle bore dia 16mm, whole bloom spray painting.
As the preferred embodiment of this programme, the control cabinet long 300mm, wide 160mm, high 82mm include control electricity
Road plate, electric pressure converter, electric wave carrier and interchanger.
As the preferred embodiment of this programme, headlamp maximum gauge 80mm, the long 160mm, power 50W, 24V be straight
Stream power supply, pressure-resistant depth 300m.
As the preferred embodiment of this programme, the described camera maximum gauge 64mm, length 120mm, clarity
1080P, pressure-resistant depth 300m.
As the preferred embodiment of this programme, the propeller 1 be built-in compensator propeller, maximum gauge 155mm,
Length 326mm, rated power 240W, quality 2.1kg, thrust 7.5kgf, maximum working depth 1000m.
As the preferred embodiment of this programme, the propeller 2 be built-in compensator propeller, maximum gauge 142mm,
Length 278mm, rated power 480W, quality 1.7kg, thrust 12kgf, maximum working depth 6000m.
As the preferred embodiment of this programme, the described compensator model Whale B1/4, quality 485g, maximum gauge
74mm, length 130mm.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
A kind of under-water body cleaning robot, light weight facilitate carrying, and cleaning efficiency is high, passes through manual operation robot
Hull is cleaned, so that the ship resistance of ship reduces, less oil consumption extends lying up the period for ship, to improve fortune
Defeated efficiency reduces ship cost of upkeep, and then increases economic efficiency, while can also ensure that compared with artificial washing and cleaning operation mode
The safety of construction personnel.The aluminium alloy part that robot body is aoxidized using 304 stainless steels and surface hard, while installing several
Disconnectable sacrificial anode ring, protects important part not corroded, anti-collision adhesive tape is secured in robot frame, so that machine
The good corrosion resistance of people, overall structure are reliable, greatly extend the service life of robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the embodiment of the present application；
Fig. 2 is the schematic diagram of internal structure of the embodiment of the present application；
Fig. 3 is the left view of the embodiment of the present application；
Fig. 4 is the partial sectional view of the embodiment of the present application；
Fig. 5 is the cross-sectional view of the embodiment of the present application；
Fig. 6 is the rack construction schematic diagram of the embodiment of the present application；
Fig. 7 is the upper case structure schematic diagram of the embodiment of the present application；
Fig. 8 is the control cabinet structural schematic diagram of the embodiment of the present application；
Fig. 9 is the structure of the lighting lamp schematic diagram of the embodiment of the present application；
Figure 10 is the camera structure schematic diagram of the embodiment of the present application；
Figure 11 is 1 structural schematic diagram of propeller of the embodiment of the present application；
Figure 12 is 2 structural schematic diagram of propeller of the embodiment of the present application；
Figure 13 is the compensator structure schematic diagram of the embodiment of the present application.
In Fig. 1-Figure 13: 1, upper casing, 2, eyenut, 3, hanging ring gasket, 4, headlamp, 5, camera, 6, anti-collision adhesive tape,
7, rack, 8, universal wheel, 9, propeller 1,10, propeller 2,11, winding displacement version, 12, control cabinet, 13, upending frame, 14, camera
Seat, 15, illuminating lamp holder, 16, sacrificial anode ring, 17, compensator, 18, compensator seat, 19, cleaning module seat, 20, cleaning module
Fastener, 21, cleaning module, 22, propeller seat 1,23, propeller seat 2.
Specific embodiment
The present invention provides a kind of under-water body cleaning robot, light weight facilitates carrying, and cleaning efficiency is high, passes through people
Work operation robot cleans hull, so that the ship resistance of ship reduces, less oil consumption extends lying up week for ship
Phase reduces ship cost of upkeep, and then increase economic efficiency to improve conevying efficiency, at the same with artificial washing and cleaning operation mode
Compare the safety that can also ensure that construction personnel.The aluminium alloy portion that robot body is aoxidized using 304 stainless steels and surface hard
Part, while several disconnectable sacrificial anode rings being installed, it protects important part not corroded, is secured in robot frame anti-
Adhesive tape is hit, so that the good corrosion resistance of robot, overall structure are reliable, greatly extends the service life of robot.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As shown in Fig. 1-Figure 13, a kind of under-water body cleaning robot, including upper casing 1, eyenut 2, hanging ring gasket 3,
Headlamp 4, camera 5, anti-collision adhesive tape 6, rack 7, universal wheel 8, propeller 19, propeller 210, winding displacement version 11, control cabinet 12,
Upending frame 13, camera shooting headstock 14, illuminating lamp holder 15, sacrificial anode ring 16, compensator 17, compensator seat 18, cleaning module seat 19,
Cleaning module fastener 20, cleaning module 21, propeller seat 122 and propeller seat 223, which is characterized in that the camera shooting headstock
14 are fixed on 7 both ends of rack, each one of front and back by bolt between two parties, and camera 5 is fixed on camera shooting headstock 14 by hose clamp, is shone
Bright lamp seat 15 is bolted on 7 both ends of rack, is located at camera shooting 14 two sides of headstock, each two of front and back, 6 sets of anti-collision adhesive tape in machine
On the anti-collision side of frame 7, universal wheel 8 is bolted on four angles of 7 bottom of rack, and propeller seat 122 is solid by bolt
7 both ends of rack are scheduled on, each two of front and back, propeller 19 is fixed on propeller seat 122 by hose clamp, in outer "eight" shape point
Cloth, propeller 210 are bolted on the vertical stainless steel plate in 7 side of rack, and propeller 210 is fixed on by hose clamp to be pushed away
Into on device seat 223, winding displacement version 11 is bolted on 7 top of rack, and two cleaning module seats 19 are bolted on machine
On the 7 two pieces of vertical stainless steel plates in middle part lower section of frame, cleaning module 21 is fixed on cleaning module seat by cleaning module fastener 20
On 19, control cabinet 12 is bolted on the horizontal stainless steel plate in the middle part of rack 7, and by watertight cable and propeller 19,
Propeller 210, headlamp 4, camera 5 are connected with cleaning module 21, and upending frame 13 is bolted in rack 7, are located at
Right above control cabinet 12, compensator seat 18 is bolted on the vertical stainless steel plate in 7 middle part of rack, and compensator 17 passes through
Hose clamp is fixed on compensator seat 18, and is managed by PU and be connected with cleaning module 21, and upper casing 1 passes through eyenut 2 and hanging ring pad
Piece 3 is fixed on 7 top of rack.
Wherein, in practical applications, the rack 7 is 980mm long, and wide 650mm, high 332mm, mainframe is outer diameter
The stainless steel tube of 30mm, wall thickness 2mm are welded with the stainless steel plate of thickness 2mm inside and outside stainless steel tube, weld among rack 7
There is a horizontal positioned control cabinet fixed plate, control cabinet fixed plate downward vertical welds compensator fixed plate, under the intermediate round tube of rack 7
Two pieces of cleaning module fixed plates of square vertical welding, the stainless steel material that rack 7 integrally uses are 304 stainless steels, and material is easy to get, high
Intensity and good corrosion resistance improve machine human reriability and service life.
Wherein, in practical applications, the upper casing 1 is 970mm long, wide 640mm, high 120mm, material PMI, density
400kg/m3, intermediate sky diameter 80mm, Quadrilateral zone diameter 142mm, quadrangle bore dia 16mm, whole bloom spray painting, visual effect
It is good.
Wherein, in practical applications, the control cabinet 12 is 300mm long, and wide 160mm, high 82mm include control circuit
Plate, electric pressure converter, electric wave carrier and interchanger.
Wherein, in practical applications, 4 maximum gauge 80mm of headlamp, the long 160mm, power 50W, 24V direct current supply
Electricity, pressure-resistant depth 300m can provide enough brightness under water for camera shooting.
Wherein, in practical applications, camera 5 maximum gauge 64mm, length 120mm, the clarity 1080P are clapped
Take the photograph image clearly, pressure-resistant depth 300m.
Wherein, in practical applications, the propeller 19 is built-in compensator propeller, maximum gauge 155mm, length
326mm, rated power 240W, quality 2.1kg, thrust 7.5kgf, maximum working depth 1000m can mention for robot movement
For enough power.
Wherein, in practical applications, the propeller 210 is built-in compensator propeller, and maximum gauge 142mm is long
278mm, rated power 480W, quality 1.7kg, thrust 12kgf, maximum working depth 6000m are spent, is the dive and patch of robot
It is attached that enough power is provided.
Wherein, in practical applications, 17 model Whale B1/4 of the compensator, quality 485g, maximum gauge
74mm, length 130mm are managed by PU and are provided pressure compensation for cleaning module, guarantee that cleaning module works normally.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (9)
1. a kind of under-water body cleaning robot, including upper casing (1), eyenut (2), hanging ring gasket (3), headlamp (4), take the photograph
As head (5), anti-collision adhesive tape (6), rack (7), universal wheel (8), propeller 1 (9), propeller 2 (10), winding displacement version (11), control
Cabin (12), upending frame (13), camera shooting headstock (14), illuminating lamp holder (15), sacrificial anode ring (16), compensator (17), compensator
Seat (18), cleaning module seat (19), cleaning module fastener (20), cleaning module (21), propeller seat 1 (22) and propeller seat 2
(23), which is characterized in that the camera shooting headstock (14) is fixed on rack (7) both ends by bolt between two parties, and each one of front and back is taken the photograph
It is imaged on headstock (14) as head (5) are fixed on by hose clamp, illuminating lamp holder (15) is bolted on rack (7) both ends, position
In camera shooting headstock (14) two sides, each two of front and back, anti-collision adhesive tape (6) covers on the anti-collision side of rack (7), and universal wheel (8) passes through
Bolt is fixed on four angles of rack (7) bottom, and propeller seat 1 (22) is bolted on rack (7) both ends, and front and back is each
Two, propeller 1 (9) is fixed on propeller seat 1 (22) by hose clamp, is distributed in outer "eight" shape, and propeller 2 (10) passes through
Bolt is fixed on the vertical stainless steel plate in rack (7) side, and propeller 2 (10) is fixed on propeller seat 2 (23) by hose clamp
On, winding displacement version (11) is bolted on above rack (7), and two cleaning module seats (19) are bolted on rack
(7) on the two pieces of vertical stainless steel plates in middle part lower section, cleaning module (21) is fixed on cleaning mould by cleaning module fastener (20)
On block (19), control cabinet (12) is bolted on horizontal stainless steel plate in the middle part of rack (7), and by watertight cable with
Propeller 1 (9), propeller 2 (10), headlamp (4), camera (5) are connected with cleaning module (21), and upending frame (13) passes through spiral shell
Bolt is fixed on rack (7), is located at right above control cabinet (12), and compensator seat (18) is bolted in the middle part of rack (7)
On vertical stainless steel plate, compensator (17) is fixed on compensator seat (18) by hose clamp, and passes through PU pipe and cleaning module
(21) it is connected, upper casing (1) is fixed on above rack (7) by eyenut (2) and hanging ring gasket (3).
2. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the rack (7) is long
980mm, wide 650mm, high 332mm, mainframe are the stainless steel tube of outer diameter 30mm, wall thickness 2mm, are welded inside and outside stainless steel tube
There is the stainless steel plate of thickness 2mm, horizontal positioned control cabinet fixed plate, control cabinet fixed plate lower section are welded among rack (7)
Vertical welding compensator fixed plate, the intermediate round tube downward vertical of rack (7) weld two pieces of cleaning module fixed plates, and rack (7) is whole
The stainless steel material that body uses is 304 stainless steels.
3. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the upper casing (1) is long
970mm, wide 640mm, high 120mm, material PMI, density 400kg/m3, intermediate sky diameter 80mm, Quadrilateral zone diameter 142mm,
Quadrangle bore dia 16mm, whole bloom spray painting.
4. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the control cabinet (12) is long
300mm, wide 160mm, high 82mm include control circuit board, electric pressure converter, electric wave carrier and interchanger.
5. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the headlamp (4) is most
Major diameter 80mm, long 160mm, power 50W, 24V direct current supply, pressure-resistant depth 300m.
6. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the camera (5) is most
Major diameter 64mm, length 120mm, clarity 1080P, pressure-resistant depth 300m.
7. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the propeller 1 (9) is
Built-in compensator propeller, maximum gauge 155mm, length 326mm, rated power 240W, quality 2.1kg, thrust 7.5kgf, most
Big working depth 1000m.
8. a kind of under-water body cleaning robot according to claim 1, which is characterized in that the propeller 2 (10)
For built-in compensator propeller, maximum gauge 142mm, length 278mm, rated power 480W, quality 1.7kg, thrust 12kgf,
Maximum working depth 6000m.
9. a kind of under-water body cleaning robot according to claim 1, which is characterized in that described compensator (17) type
Number be Whale B1/4, quality 485g, maximum gauge 74mm, length 130mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910729135.4A CN110282092A (en) | 2019-08-08 | 2019-08-08 | A kind of under-water body cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910729135.4A CN110282092A (en) | 2019-08-08 | 2019-08-08 | A kind of under-water body cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110282092A true CN110282092A (en) | 2019-09-27 |
Family
ID=68025052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910729135.4A Pending CN110282092A (en) | 2019-08-08 | 2019-08-08 | A kind of under-water body cleaning robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110282092A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111391995A (en) * | 2020-03-18 | 2020-07-10 | 上海遨拓深水装备技术开发有限公司 | Robot device for cleaning underwater ship body |
| CN112519977A (en) * | 2020-11-27 | 2021-03-19 | 江苏科技大学 | Ship body cleaning robot and cleaning method thereof |
-
2019
- 2019-08-08 CN CN201910729135.4A patent/CN110282092A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111391995A (en) * | 2020-03-18 | 2020-07-10 | 上海遨拓深水装备技术开发有限公司 | Robot device for cleaning underwater ship body |
| CN112519977A (en) * | 2020-11-27 | 2021-03-19 | 江苏科技大学 | Ship body cleaning robot and cleaning method thereof |
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