CN110588918B - Hydrofoil structure surface attachment clearing device - Google Patents
Hydrofoil structure surface attachment clearing device Download PDFInfo
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- CN110588918B CN110588918B CN201910716791.0A CN201910716791A CN110588918B CN 110588918 B CN110588918 B CN 110588918B CN 201910716791 A CN201910716791 A CN 201910716791A CN 110588918 B CN110588918 B CN 110588918B
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- hydrofoil
- sealing
- slide rail
- fixedly connected
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
Abstract
The invention discloses a hydrofoil structure surface attachment removing device, which comprises an adsorption moving device, a horizontal rotating device, a vertical rotating device, a processing device and an auxiliary device, wherein the adsorption moving device is used for adsorbing a hydrofoil to be removed with foreign matters and providing power to push the whole removing device to move on the surface of the hydrofoil; horizontal rotation device and auxiliary device all install on adsorbing the mobile device, and auxiliary device provides support and sealed for horizontal rotation device, and horizontal rotation device and vertical rotation device link to each other, and vertical rotation device and processingequipment are connected, and processingequipment laminating hydrofoil surface carries out the attachment and clears away. The device has the advantages of compact and simple structure, low required cost, simple operation and wide cleaning range.
Description
Technical Field
The invention relates to the field of hydrofoil cleaning, in particular to a device for removing attachments on the surface of a hydrofoil structure.
Background
After the ship is launched for a period of time, due to the strong corrosivity of seawater and the tenacious adhesion of marine organisms, a large amount of barnacle organisms and rusty spots can be attached to the surface of the ship body, and a large amount of attachments can be attached to the surface of a hydrofoil for driving the ship. Their presence not only accelerates the erosion of the hydrofoils, but also increases the drag of the vessel, increasing unnecessary power losses. In the current technology, the method of coating the coating to inhibit the adhesion of marine organisms has an effect, but the pollution problem to the marine environment is serious and the cost is extremely high; while periodically refurbishing in the dock is extremely costly in terms of both time and expense. The underwater cleaning device can be used for cleaning the hydrofoil underwater at any time during the berthing period of the ship, does not influence the normal navigation of the ship, and can save considerable time and cost.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a hydrofoil structure surface attachment removing device which is wide in application range, simple to operate and self-adaptive to adjust, and the specific technical scheme is as follows:
a hydrofoil structure surface attachment clearing device is characterized by comprising an adsorption moving device, a horizontal rotating device, a vertical rotating device, a processing device and an auxiliary device, wherein the adsorption moving device is used for adsorbing a hydrofoil which needs to clear foreign matters and providing power to push the whole clearing device to move on the surface of the hydrofoil; the horizontal rotating device and the auxiliary device are arranged on the adsorption moving device, the auxiliary device is used for supporting and sealing the horizontal rotating device, the horizontal rotating device is connected with the vertical rotating device, the vertical rotating device is connected with the processing device, and the processing device is attached to the surface of the hydrofoil to remove attachments.
Further, the adsorption moving device comprises a wheel disc chassis 1, a magnet 2, a wheel disc 3, a propeller 5 and a chassis 6, wherein the wheel disc chassis 1 and the propeller 5 are fixedly connected to the lower surface of the chassis 6, the wheel disc chassis 1 is located at the middle part, the propeller 5 is symmetrically arranged on two sides of the wheel disc chassis 1, the wheel disc chassis 1 is concave, the magnet 2 is fixed in the concave part of the wheel disc chassis 1, and the wheel disc 3 is arranged along two sides of the wheel disc chassis 1 symmetrically.
Further, the horizontal rotation device comprises a first bevel gear 11, a gear shaft 14, a second bevel gear 18, a first motor 19 and a first connecting rod 21, the first motor 19 is fixed on the chassis 6, a rotating shaft of the first motor is fixedly connected with the second bevel gear 18, one end of the gear shaft 14 is connected to the chassis 6, the middle part of the gear shaft is fixedly connected with the first bevel gear 11, the first bevel gear 11 is meshed with the second bevel gear 18, and the other end of the gear shaft 14 is fixedly connected with the first connecting rod 21.
Further, vertical rotary device include push rod base 22, electric putter 23, connecting plate 26, second connecting rod 28, push rod base 22 with connecting plate 26 parallel arrangement, electric putter 23 set up between the two, one end rigid coupling be in push rod base 22 on, other end rotatable coupling connecting plate 26, first connecting rod 21 pass push rod base 22 with connecting plate 26 rotatable coupling, second connecting rod 28 one end rigid coupling be in connecting plate 26 on, the other end with processingequipment rotatable coupling.
Further, the processing device comprises a sealing container 35, a grinding disc motor 34, a grinding disc support 38 and a grinding disc 40, wherein the sealing container 35 is rotatably connected with the second connecting rod 28, the grinding disc motor 34 is fixed in the sealing container 35, a rotating shaft of the grinding disc motor extends out of the sealing container 35 and is fixedly connected with the grinding disc support 38, and the grinding disc 40 is fixed on the grinding disc support 38.
Further, the auxiliary device comprises a sealing device and a supporting device, the sealing device comprises a sealing cylinder 7 and a sealing cover 8, the sealing cylinder 7 is fixedly connected to the chassis 6, the sealing cover 8 is fixedly connected to the sealing cylinder 7, the chassis 6, the sealing cylinder 7 and the sealing cover 8 form a closed space, and one end of the first motor 19, the first bevel gear 11, the second bevel gear 18 and the gear shaft 14 is located in the closed space; the supporting device comprises a supporting frame 42, a sliding rail platform 43, a sliding rail 44 and a sliding rail support 45, wherein the sliding rail support 45 is fixedly connected to the base plate 6, the sliding rail 44 is fixed to the sliding rail support 45, one end of the supporting frame 42 is fixedly connected to the first connecting rod 21, the other end of the supporting frame is fixedly connected to the sliding rail platform 43, and the sliding rail platform 43 slides on the sliding rail 44.
Further, the slide rail 44 and the slide rail support 45 are both in a semi-annular structure, and the circle centers of the slide rail 44 and the slide rail support 45 are located at the same circle center as the gear shaft 14.
Further, the grinding disc 40 is fixedly attached to the grinding disc support 38 through a hook and loop fastener 39.
Furthermore, a connecting shaft 41 is fixedly connected to one end of the sealed container 35 connected to the second connecting rod 28, and the connecting shaft 41 is connected to the second connecting rod 28 through a joint bearing, so that the contact angle can be automatically adjusted when the grinding disc 40 contacts wall surfaces with different angles.
The invention has the following beneficial effects:
the hydrofoil structure surface attachment removing device has the advantages of compact and simple structure, low required cost, simple operation and wide cleaning range; the adsorption moving device can move on a magnetic working surface; the combination of the horizontal plane rotating device and the vertical plane rotating device can work on a larger working surface and can control and polish more dirt; the joint bearing of the processing device enables the grinding disc to be adaptive to working wall surfaces with different angles, so that the processing range is wider; the magic tape can facilitate the disassembly of the grinding disc, and different grinding discs can clean surfaces with different hardness; the sliding rail device is beneficial to the movement work of the horizontal plane rotating device.
Drawings
FIG. 1 is a front view of a hydrofoil structure surface attachment removing device of the present invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a front view of the suction moving device;
FIG. 4 is a left side view of the suction moving device;
FIG. 5 is a cross-sectional view taken along line B-B of FIG. 1;
FIG. 6 is an enlarged view taken at point I of FIG. 1;
in the figure, a wheel disc underframe 1, a magnet 2, a wheel disc 3, a wheel disc shaft 4, a propeller 5, a chassis 6, a sealing cylinder 7, a sealing cover 8, a first support 9, a first bearing 10, a first bevel gear 11, a first bearing fixing cylinder 12, a bearing end cover 13, a gear shaft 14, a felt ring 15, a second bearing 16, a fixing screw 17, a second bevel gear 18, a first motor 19, a first motor support 20, a first connecting rod 21, a push rod base 22, an electric push rod 23, a push rod connecting support 24, a connecting rod connecting support 25, a connecting plate 26, a fixing support 27, a second connecting rod 28, a second bearing fixing cylinder 29, a bearing fixing end cover 30, a joint bearing 31, a sleeve 32, a sealing container right end cover 33, a grinding disc motor 34, a sealing container 35, a sealing container left end cover 36, a sealing end cover 37, a grinding disc support 38, a magic tape 39, a grinding disc 40, a connecting shaft 41, a, V-shaped slide rail 44 and slide rail support 45.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the device for removing attachments on the surface of a hydrofoil structure of the invention comprises an adsorption moving device, a horizontal rotating device, a vertical rotating device, a processing device and an auxiliary device, wherein the adsorption moving device is used for adsorbing the hydrofoil to be cleaned of foreign matters and providing power to push the whole removing device to move on the surface of the hydrofoil; horizontal rotation device and auxiliary device all install on adsorbing the mobile device, and auxiliary device provides support and sealed for horizontal rotation device, and horizontal rotation device and vertical rotation device link to each other, and vertical rotation device and processingequipment are connected, and processingequipment laminating hydrofoil surface carries out the attachment and clears away.
As shown in fig. 1 and 2, the adsorption moving device comprises a wheel disc underframe 1, a magnet 2, a wheel disc 3, a wheel disc shaft 4, a propeller 5 and a chassis 6, wherein the wheel disc underframe 1 is
The upper end surface of the propeller is fixed with the chassis 6 through bolts and nuts, the two propellers 5 are fixedly connected to the lower surface of the outer part of the wheel disc underframe 1 through bolts, the mounting directions of the propellers are the same, and the propellers 5 provide forward power for the whole device; be rim plate chassis 1 in the middle of two propellers 5, magnet 2 pass through the bolt fastening rim plate chassis 1's concave part, six total installation positions become two lines of evenly distributed, magnet 2 provides an adsorption for whole device, can adsorb and remove on the steel surface, two rim plate axles 4 pass the hole of rim plate chassis 1 front and back both sides respectively, pass through a shaft shoulder and fixed rim plate 3 of nut at the both ends of every rim plate axle 4, the effect of rim plate 3 is to change the process of sliding into the process of rolling, reduces the loss of power.
As shown in fig. 1 and 2, the horizontal rotation device comprises a first bevel gear 11, a first bearing fixing cylinder 12, a bearing end cover 13, a gear shaft 14, a felt ring 15, a second bearing 16, a fixing screw 17, a second bevel gear 18, a first motor 19, a motor support 20 and a first connecting rod 21, wherein the first motor 19 is fixed on the motor support 20, the motor support 20 is fixed on the chassis 6 in a welding manner, an output shaft of the motor support is fixedly connected with the second bevel gear 18 through a key and the fixing screw 17, the first bevel gear 11 is connected with the second bevel gear 18, the gear shaft 14 has 9 sections, the 7 th section is provided with the first bevel gear 11 and is fixed through a shaft shoulder, a flat key and a nut, the 9 th section and the 4 th section of the gear shaft 14 are respectively in interference fit with the first bearing 10 and the second bearing 16, the lower end of the first bearing 10 is placed on the first support 9, the first support 9 is fixed on the, first support 9 and shaft shoulder play the fixed action of location to first bearing 10, the first bearing fixed cylinder 12 of terminal surface installation under the second bearing 16, up end installation bearing end cover 13, bearing end cover 13 is inside to have felt 15, play the sealing action, from last to extremely down, bearing end cover 13 is respectively, sealed lid 8 and the first bearing fixed cylinder 12 pass through the bolt, nut and gasket are fixed, the second section of gear shaft 14 passes through the shaft shoulder, the first connecting rod 21 of parallel key and nut installation, the first section and the sixth section of gear shaft 14 all have the screw thread, be used for mounting nut.
As shown in fig. 1 and 2, the vertical rotation device includes a push rod base 22, an electric push rod 23, a push rod connection support 24, a connection rod connection support 25, a connection plate 26, a fixed support 27, and a second connection rod 28, wherein the push rod base 22 is rectangular, a middle opening thereof is directly welded on the first connection rod 21, an upper portion and a lower portion thereof are respectively fixed with one electric push rod 23 through screws, the top of the electric push rod 23 is connected with the push rod connection support 24 through a pin, the push rod connection support 24 is directly welded on the upper portion and the lower portion of the right end surface of the connection plate 26, the middle portion of the right end surface of the connection plate 26 is welded with the connection rod connection support 25, the connection rod connection support 25 is connected with the first connection rod 21 through a pin, the left end surface of the connection plate 26 is welded with the fixed support.
As shown in fig. 1, 5 and 6, the processing device includes a sealing container 35, a grinding disc motor 34, a grinding disc support 38 and a grinding disc 40, the grinding disc motor 34 is fixed in the cuboid sealing container 35, a left end cover 36 and a right end cover 33 of the sealing container are respectively installed on the left end surface and the right end surface of the cuboid sealing container 35, an output shaft of the grinding disc motor 34 passes through holes of the left end cover 36 and the sealing end cover 37 of the sealing container and is in threaded connection with the grinding disc support 38, the sealing end cover 37 is fixed on the installation surface of the left end cover 36 of the sealing container through screws, a magic tape 39 is pasted on the bottom of the grinding disc support 38, the grinding disc 40 is fixed on the grinding disc support 38 through the magic tape 39, and the magic.
The top end of the second connecting rod 28 is sleeved with a second bearing fixing cylinder 29 and fixed through screws, a joint bearing 31 is installed inside the second bearing fixing cylinder 29, the right end face of the joint bearing 31 is positioned through a bearing fixing end cover 30, the bearing fixing end cover 30 is installed inside the second bearing fixing cylinder 29 and fixed on the top end face of the second connecting rod 28 through screws, the left end face is in contact with the second bearing fixing cylinder 29, the connecting shaft 41 penetrates through the joint bearing 31, a sleeve 32 is sleeved outside the connecting shaft 41, the sleeve 32 plays a positioning role, the joint bearing 31 plays a self-adaptive adjusting role, when the grinding disc 40 contacts with wall faces of different angles, the joint bearing 31 can continuously adjust the angle until the grinding disc 40 contacts with most parts of the working surface, and the cleaning of the surfaces of different angles is facilitated.
As shown in fig. 1 and 2, the auxiliary device includes a sealing device and a supporting device, the sealing device includes a sealing cylinder 7 and a sealing cover 8, the sealing cylinder 7 is fixedly connected to the base plate 6, the sealing cover 8 is fixedly connected to the sealing cylinder 7, the base plate 6, the sealing cylinder 7 and the sealing cover 8 form a closed space, a first motor 19, a first bevel gear 11, a second bevel gear 18 and a gear shaft 14 are installed inside the closed space, and a part of the gear shaft 14 penetrates through a through hole of the sealing cover 8. The supporting device comprises a supporting frame 42, a sliding rail platform 43, a sliding rail 44, a sliding rail support 45, the sliding rail support 45 and the V-shaped sliding rail 44 are of a semi-annular structure, the sliding rail platform 43 is placed in a groove of the V-shaped sliding rail 44, protruding structures are arranged at two ends of the V-shaped sliding rail 44 respectively, the sliding rail platform 43 is prevented from derailing, the supporting frame 42 is fixed on the sliding rail platform 43 through screws, the upper end of the supporting frame 42 is fixed with the first connecting rod 21 through the screws, the whole sliding rail device has a supporting function, and the whole sliding rail device and the gear shaft 14 are located in.
The whole device is required to work in an underwater environment and a magnetic environment on a working surface.
The working process of the device is as follows:
(1) the whole device is moved to the working surface of the underwater environment, the propeller 5 is opened, the whole device is adsorbed on the working surface due to the adsorption effect of the magnet 2, and the wheel disc 3 rolls forwards under the action of the propeller 5;
(2) turning on the first motor 19, the gear shaft 14 rotates on the horizontal plane under the driving of the first bevel gear 11 and the second bevel gear 18, and the first connecting rod 21 rotates around the gear shaft 14 under the support of the whole sliding rail device;
(3) controlling two electric push rods 23 to extend and contract one by one, driving the connecting plate 26 to rotate on a pin vertical surface on the top end of the first connecting rod 21, and driving the second connecting rod 28 and the whole processing device to rotate on the vertical surface;
(4) the horizontal and vertical positions are adjusted, when the grinding disc 40 touches the working wall surface, the propeller 6 is closed, and the joint bearing 31 can be continuously adjusted to the optimal working angle according to the angle between the grinding disc 40 and the working wall surface.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A hydrofoil structure surface attachment clearing device is characterized by comprising an adsorption moving device, a horizontal rotating device, a vertical rotating device, a processing device and an auxiliary device, wherein the adsorption moving device is used for adsorbing a hydrofoil which needs to clear foreign matters and providing power to push the whole clearing device to move on the surface of the hydrofoil; the horizontal rotating device and the auxiliary device are both arranged on the adsorption moving device, the auxiliary device provides support and sealing for the horizontal rotating device, the horizontal rotating device is connected with the vertical rotating device, the vertical rotating device is connected with the processing device, and the processing device is attached to the surface of the hydrofoil to remove attachments;
the adsorption moving device comprises a wheel disc underframe (1), a magnet (2), a wheel disc (3), propellers (5) and a chassis (6), wherein the wheel disc underframe (1) and the propellers (5) are fixedly connected to the lower surface of the chassis (6), the wheel disc underframe (1) is positioned in the middle, the two propellers (5) are symmetrically arranged on two sides of the wheel disc underframe (1), the wheel disc underframe (1) is concave, the magnet (2) is fixed in the concave part of the wheel disc underframe (1), and the plurality of wheel discs (3) are symmetrically arranged along two sides of the wheel disc underframe (1);
the horizontal rotating device comprises a first bevel gear (11), a gear shaft (14), a second bevel gear (18), a first motor (19) and a first connecting rod (21), wherein the first motor (19) is fixed on the chassis (6), a rotating shaft of the first motor is fixedly connected with the second bevel gear (18), one end of the gear shaft (14) is connected to the chassis (6), the middle part of the gear shaft is fixedly connected with the first bevel gear (11), the first bevel gear (11) is meshed with the second bevel gear (18), and the other end of the gear shaft (14) is fixedly connected with the first connecting rod (21).
2. The hydrofoil structure surface attachment removing device according to claim 1, characterized in that the vertical rotating device comprises a push rod base (22), an electric push rod (23), a connecting plate (26) and a second connecting rod (28), the push rod base (22) and the connecting plate (26) are arranged in parallel, the electric push rod (23) is arranged between the push rod base and the connecting plate, one end of the electric push rod is fixedly connected to the push rod base (22), the other end of the electric push rod is rotatably connected to the connecting plate (26), the first connecting rod (21) penetrates through the push rod base (22) and is rotatably connected to the connecting plate (26), one end of the second connecting rod (28) is fixedly connected to the connecting plate (26), and the other end of the second connecting rod is rotatably connected to the processing device.
3. The hydrofoil structure surface attachment removing device according to claim 2, characterized in that the processing device comprises a sealing container (35), a millstone motor (34), a millstone bracket (38) and a millstone (40), wherein the sealing container (35) is rotatably connected with the second connecting rod (28), the millstone motor (34) is fixed in the sealing container (35), the rotating shaft of the millstone motor extends out of the sealing container (35) and is fixedly connected with the millstone bracket (38), and the millstone bracket (38) is fixed with the millstone (40).
4. The hydrofoil structure surface attachment removing device according to claim 3, wherein the auxiliary device comprises a sealing device and a supporting device, the sealing device comprises a sealing cylinder (7) and a sealing cover (8), the sealing cylinder (7) is fixedly connected to the chassis (6), the sealing cover (8) is fixedly connected to the sealing cylinder (7), the chassis (6), the sealing cylinder (7) and the sealing cover (8) form a closed space, and one end of the first motor (19), the first bevel gear (11), the second bevel gear (18) and one end of the gear shaft (14) are located in the closed space; support arrangement include support frame (42), slide rail platform (43), slide rail (44), slide rail support (45) rigid coupling be in chassis (6) on, slide rail (44) fix slide rail support (45) on, the one end of support frame (42) with first connecting rod (21) rigid coupling, the other end with slide rail platform (43) rigid coupling, slide rail platform (43) be in slide rail (44) on slide.
5. The hydrofoil structure surface attachment removing device according to claim 4, characterized in that the slide rail (44) and the slide rail support (45) are both in a semi-annular structure, and the centers of the slide rail (44) and the slide rail support (45) are at the same center of the gear shaft (14).
6. The hydrofoil structure surface attachment removing device according to claim 3, characterized in that the grinding disc (40) is fixedly adhered to the grinding disc bracket (38) through a magic tape (39).
7. The hydrofoil structure surface attachment removing device according to claim 4, characterized in that one end of the sealed container (35) connected with the second connecting rod (28) is fixedly connected with a connecting shaft (41), and the connecting shaft (41) is connected with the second connecting rod (28) through a joint bearing, so that the grinding disc (40) can be automatically adjusted in contact with wall surfaces with different angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910716791.0A CN110588918B (en) | 2019-08-05 | 2019-08-05 | Hydrofoil structure surface attachment clearing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910716791.0A CN110588918B (en) | 2019-08-05 | 2019-08-05 | Hydrofoil structure surface attachment clearing device |
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| CN110588918A CN110588918A (en) | 2019-12-20 |
| CN110588918B true CN110588918B (en) | 2020-09-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102424100A (en) * | 2011-11-22 | 2012-04-25 | 哈尔滨功成科技创业投资有限公司 | Robot for cleaning composite adsorption ship body |
| CN103818533A (en) * | 2012-11-18 | 2014-05-28 | 上海市浦东新区知识产权保护协会 | Multi-functional underwater operation robot |
| KR101702522B1 (en) * | 2014-12-03 | 2017-02-07 | 삼성중공업(주) | Shackle device for hull surface cleaning robot |
| CN205891183U (en) * | 2016-05-19 | 2017-01-18 | 西安天和海防智能科技有限公司 | Clean hull robot of cavitation jet |
| AU2017200906A1 (en) * | 2017-02-09 | 2018-08-23 | Ecosubsea As | Inspection vehicle |
| CN106926991B (en) * | 2017-03-15 | 2018-08-24 | 浙江工业大学 | A kind of device for removing marine surface dirt |
| CN107010183B (en) * | 2017-03-29 | 2019-01-18 | 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 underwater structure surface clean detection system based on buoyancy compartment |
| CN206813267U (en) * | 2017-04-21 | 2017-12-29 | 山东科技大学 | A kind of under-water body shellfish cleaning plant |
| CN107985526B (en) * | 2017-12-07 | 2019-11-05 | 浙江海洋大学 | Remove the robot of under-water body attachment |
| CN108313241B (en) * | 2018-03-16 | 2019-08-09 | 西北工业大学 | Electromagnetic adsorption underwater operation robot based on ROV platform |
| CN108423138A (en) * | 2018-05-10 | 2018-08-21 | 深圳市智能机器人研究院 | A kind of underwater cleaning robot system towards ocean attachment |
| CN109080791A (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） | Propeller underwater cleaning devices and methods therefor |
| CN209080129U (en) * | 2018-10-18 | 2019-07-09 | 上海海洋大学 | A kind of cleaning and detection robot for underwater facility circular tube structure |
| CN109733570B (en) * | 2019-01-29 | 2021-07-27 | 山东大学 | Wheeled walking-propeller propelling type underwater cleaning robot |
| CN109795647B (en) * | 2019-01-29 | 2021-04-09 | 山东大学 | Electromagnetic adsorption-propeller propulsion type underwater cleaning robot |
| CN109823490A (en) * | 2019-04-09 | 2019-05-31 | 江苏科技大学 | A kind of modularization propeller cleaning device |
| CN110052298A (en) * | 2019-05-09 | 2019-07-26 | 中国计量大学 | A method of vibration pipeline control micro-fluidic chip generates microlayer model |
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