CN110606172A - Movable platform for cleaning dirt on surface of ship - Google Patents

Movable platform for cleaning dirt on surface of ship Download PDF

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Publication number
CN110606172A
CN110606172A CN201910914237.3A CN201910914237A CN110606172A CN 110606172 A CN110606172 A CN 110606172A CN 201910914237 A CN201910914237 A CN 201910914237A CN 110606172 A CN110606172 A CN 110606172A
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China
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motion
watertight
platform
bearing platform
load
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CN201910914237.3A
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CN110606172B (en
Inventor
于凯
刘洋
郭春雨
徐鹏
陈帅
杨波
李元弟
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Harbin Engineering University
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Harbin Engineering University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06Cleaning devices for hulls
    • B63B59/10Cleaning devices for hulls using trolleys or the like driven along the surface

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

A movable platform for cleaning dirt on the surface of a ship belongs to the field of underwater robot operation. The structure includes load-bearing platform, the auxiliary motion mechanism, filth clearance mechanism, magnetic force unit controller, filth clearance mechanism, survey the unit under water, load-bearing platform's both sides below sets up motion respectively, auxiliary motion mechanism is installed to load-bearing platform's middle part below, magnetic force unit controller is installed to load-bearing platform's top, magnetic force unit controller passes through wire and motion in the control scheme pipeline, auxiliary motion mechanism links to each other, filth clearance mechanism is installed to load-bearing platform's front portion below, load-bearing platform installs the unit of surveing under water, watertight box is all used to the watertight mechanism below connection department, the watertight packing ring carries out the watertight processing. The invention has stronger adsorption force, better motion stability, less energy consumption, better safety and stronger adaptability, can realize the stable motion of a region with larger curvature, and has more flexible steering and better work efficiency and effect of cleaning dirt.

Description

Movable platform for cleaning dirt on surface of ship
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a movable platform for cleaning dirt on the surface of a ship.
Background
Marine organisms and deposited dirt are often attached to the surface of a ship sailing in the ocean, the sailing resistance of the ship is increased due to the existence of the dirt, the fuel consumption is increased, the surface characteristic of the ship body is damaged, and potential safety hazards are caused due to the damage of a steel structure. Thus, regular cleaning of the vessel surface is of great importance.
The ship body is cleaned in two cleaning areas above the water surface line and below the water surface line, so that the water part is conveniently cleaned and the cost is low; the current main mode of partial clearance under the water is still the manpower clearance, and not only the cost is high, also has very big safety problem simultaneously. In recent years, a novel wall climbing device is developed, a permanent magnet crawler-type structure is adsorbed on the surface of a ship body, but the device also has a great problem: firstly, the crawler belt is rigid in structure, and the crawler belt is easy to fall off from the surface of a ship body when the surface of the ship body with larger curvature is cleaned; secondly, the crawler-type base is applied, so that turning is difficult and flexibility is poor; thirdly, the permanent magnet caterpillar base makes the power that needs bigger, and the energy consumption is more. In addition, the cleaning mode of a high-pressure water gun is mostly adopted at present, the cleaning efficiency is low, and the effect is not good.
Disclosure of Invention
Aiming at the problems, the invention provides a movable platform for cleaning dirt on the surface of a ship.
In order to realize the purpose, the movable platform for cleaning the dirt on the surface of the ship structurally comprises a bearing platform 1, an auxiliary motion mechanism, a dirt cleaning mechanism, a magnetic unit controller 14, a dirt cleaning mechanism and an underwater observation unit, wherein the two sides of the bearing platform 1 are respectively arranged below the motion mechanism and the middle of the bearing platform 1, the auxiliary motion mechanism is arranged below the middle of the bearing platform 1, the upper part of the bearing platform 1 is arranged on the magnetic unit controller 14, the magnetic unit controller 14 is connected with the motion mechanism and the auxiliary motion mechanism through a wire in a control circuit pipeline 3, the dirt cleaning mechanism is arranged below the front part of the bearing platform 1, the underwater observation unit is arranged below the bearing platform 1, and the mechanism joint is subjected to watertight treatment by using a waterproof box and a watertight gasket.
The motion mechanism has four groups, each motion mechanism is composed of two coaxial motion wheels through an inter-wheel connecting piece 11, the inter-wheel connecting piece 11 is connected with the bearing platform 1 through a damping device and an axle tube, the two coaxial motion wheels can move independently, electromagnets 12 and anti-skid gaskets 13 are uniformly fixed on the surfaces of the motion wheels in a staggered mode, the electromagnets 12 are connected with the magnetic unit controller 14 through a control circuit pipeline 3, and watertight treatment is carried out on the joints through waterproof boxes and watertight gaskets.
The auxiliary motion mechanism is composed of a hydraulic telescopic pipe 7 and a magnetic sucker 15, the magnetic sucker 15 is connected with the bearing platform 1 through the hydraulic telescopic pipe 7 and an axle tube, an electromagnet 12 is fixed on the lower surface of the magnetic sucker 15, the electromagnet 12 is connected with the magnetic unit controller 14 through a control line pipeline 3, and the joint is subjected to watertight treatment by using a waterproof box and a watertight gasket.
The dirt cleaning mechanism comprises a sliding rail 16, a rotating mechanism, an angle regulator and a cavitation water gun 10, the cavitation water gun 10 is connected with the sliding rail 16 through the rotating mechanism and the angle regulator, and an air inlet pipeline 8 and a water supply pipeline 9 of the cavitation water gun 10 are connected with a gun nozzle of the cavitation water gun 10 through a cavitation water pipe.
The underwater observation unit comprises an LED lamp, a front underwater high-definition camera, a rear underwater high-definition camera, a left underwater high-definition camera and a right underwater high-definition camera.
The magnetic unit controller 14 is placed in a watertight structure, and the joints of the magnetic unit controller and the magnetic unit controller are subjected to watertight treatment by using a waterproof box and a watertight gasket.
The invention has the beneficial effects that:
according to the movable platform for cleaning the dirt on the surface of the ship, provided by the invention, the electromagnet is arranged on the wheel type movement mechanism, so that the adsorption force is stronger, and the stability during movement is better; compared with a control motor, the electromagnet is used for realizing the platform motion, so that the energy consumption is lower, and the energy waste caused when the permanent magnet is separated from the surface of the adsorption ship is not required to be overcome; compared with the crawler type structure on the market at present, the crawler type structure has the advantages that stable movement of the area with larger curvature can be realized, and the steering is more flexible. With the help of the auxiliary movement device, the safety of the wheel type mechanism is ensured; compared with a common high-pressure water gun, the cavitation water gun has better working efficiency and effect; the use of a series of control mechanisms such as slide rail and angle modulation not only is applicable to general comparatively level hull surface, to complicated areas such as bulbous bow, hull bottom, stern, also can realize the accurate location of cavitation squirt, realizes all-round filth clearance.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of the motion mechanism of the present invention;
FIG. 5 is a schematic view of the motion assist mechanism of the present invention;
fig. 6 is a schematic diagram of the cavitation water gun of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the accompanying drawings in which:
example 1
The invention aims to change the defects of the prior art and provide a safe and effective hull surface dirt cleaning mode, which can be stably adsorbed on the hull surface, can clean the hull surface in an all-around and full-coverage manner, and simultaneously avoids the danger and expensive charge brought by manual cleaning.
The invention adopts the following technical scheme:
a movable platform for cleaning dirt on the surface of a ship mainly comprises a movement mechanism, an auxiliary movement mechanism, a dirt cleaning mechanism, a watertight structure, a magnetic unit controller and an underwater observation unit.
1. The movement mechanism comprises a watertight structure 4, an axle tube connected to an equipment carrying platform, a damping device, an inter-wheel connecting piece between the axle tube and a movement wheel, a movement wheel 6, an electromagnet 12 and an anti-skid pad 13. 2 motion wheels are a set of, adopt coaxial mode to connect between 2 motion wheels, and every motion wheel rotation direction mutual noninterference, but the axial is unanimous. The surface of the moving wheel comprises an electromagnet and a non-slip mat. The electromagnets are uniformly distributed on the wheel type structure, surround a circle and are fixed by screws. The anti-slip pads are distributed between adjacent electromagnets to play an anti-slip role. The rotation of the wheel can be realized by controlling the strength of the electromagnetic magnetism. The front, back and steering movement of the movement mechanism can be realized by controlling the same or different rotations of the 2 movement wheels. The transverse, longitudinal, oblique and turning motions of the platform can be realized by controlling the motion of the motion mechanism.
2. The auxiliary movement mechanism comprises a movable watertight structure 4, an axle tube connected to an equipment carrying platform, a hydraulic telescopic rod, a magnetic sucker 15 and an electromagnet. The hydraulic telescopic rod 7 is connected with the lower end of the shaft tube and controls the magnetic sucker to move up and down. The electromagnets are fixed on the disc body through screws and are uniformly distributed, and the electromagnets are communicated in parallel. The platform is tightly attached to the surface of the ship body by controlling the electrification of the electromagnet, and the platform freely moves on the surface of the ship body by controlling the power-off of the electromagnet.
3. The dirt cleaning mechanism comprises a sliding rail 16, a rotating mechanism, an angle regulator, a pipeline, a cavitation water pipe 10 and a gun nozzle. The pipeline is communicated with high-pressure air and high-pressure water. The slide rail is connected with the cavitation water gun main body and drives the cavitation water gun to move left and right. The rotating mechanism and the angle regulator respectively control the horizontal position and the vertical position of the cavitation water gun main body. The slide rail, the rotating mechanism and the angle regulator jointly realize the space positioning of the nozzle of the cavitation water gun. The cavitation water pipe mixes air and water, and the cavitation water flow is sprayed out from the gun nozzle, so that the dirt on the surface of the ship body is cleaned by using the cavitation and denudation principle.
4. The magnetic unit controller comprises a circuit board, a wire and a watertight structure, is the only control system of the whole platform, is connected with an upper computer and each motion mechanism through the wire, and accurately realizes the movement of the platform on the surface of the ship body.
5. The underwater observation unit comprises a front underwater high-definition camera, a rear underwater high-definition camera, a left underwater high-definition camera and a right underwater LED lamp, and is a unique observation system of the whole platform. The platform operation condition and the operation back effect can be clearly observed through the cooperation of the high-definition camera and the LED lamp.
The specific working process is as follows:
the platform adsorbs on the hull surface by 4 electro-magnets on the wheel, and cavitation squirt begins work this moment, clearance hull surface filth to by the dynamics of angle regulator control clearance position.
When the dirt in the front part range of the platform is cleaned, the platform starts to move forwards, and the magnetic force unit controller starts to control the magnetic force change on the 8 wheels. The electromagnets on the inner side wheel and the outer side wheel are arranged in a staggered mode, and at the moment, the inner side 4 wheels are in an unadsorbed state, and the outer side 4 wheels are in an adsorbed state. The magnetic force of the next electromagnet of the outer wheel is controlled to be enhanced, the magnetic force of the electromagnet which is adsorbed by the inner wheel is weakened, the platform gradually moves forwards until the next electromagnet is completely adsorbed, and then the forward movement is completed simply in one step. Continuously repeating the steps to finish continuous advancing, continuously operating the cavitation water gun and cleaning the dirt on the surface of the ship body.
When complex motion is achieved: if the platform needs to realize transverse movement, the magnetic unit controller firstly controls the auxiliary movement mechanism to be adsorbed on the surface of the ship body, and then controls each group of 2-wheel structures independently. For a group of 2-wheel structures, the two wheels rotate oppositely by controlling different front and rear electromagnets of the two wheels until the two wheels form 90 degrees with the front part of the two wheels before change, and the auxiliary motion mechanism is controlled to release the adsorption state to finish adjustment. The other commands are according to the normal forward command; if the platform needs to realize steering, the magnetic unit controller assists the motion mechanism to be adsorbed on the surface of the ship body, controls the motion mechanism to work, rotates the platform by a certain angle, and removes the adsorption of the auxiliary motion to the ship body; if the platform is to realize turning around, the outer wheel of the front wheel at the turning edge is controlled by the magnetic unit controller to keep a constant adsorption state, and the rear wheel at the turning edge and the front wheel and the rear wheel at the non-turning edge move until turning around is finished; or the turning-around motion can be realized by firstly realizing the transverse movement to the next position and then carrying out the 180-degree rotation in situ.
When cleaning dirt on the surface of a ship body: for a common flat hull surface, a group of 2 cavitation water guns operate simultaneously, and a nozzle faces the advancing direction of a platform and is gradually cleaned along with the advancing of the platform; and calling a single cavitation water gun to work in complex areas such as a bulbous bow, a ship body, a ship back and the like. After the platform position is fixed by the auxiliary motion mechanism, the main body of the cavitation water gun is adjusted to move on the slide rail, and meanwhile, the rotation angle, lifting and descending angles are correspondingly adjusted, so that the spatial positioning of the cavitation water gun nozzle is realized, the cavitation water gun nozzle is aligned to the position to be cleaned, fine adjustment is performed after cleaning, cleaning of other peripheral positions is realized, and all-dimensional cleaning of a complex area is realized after multiple times of adjustment.
In the figure: 1. the device comprises an equipment bearing platform, 2, a watertight structure, 3, a control line pipeline, 4, a watertight structure, 5, an underwater camera, 6, a moving wheel, 7, a hydraulic telescopic rod, 8, an air inlet pipeline, 9, an water inlet pipeline, 10, a cavitation water gun, 11, an inter-wheel connecting piece, 12, an electromagnet, 13, an anti-skid gasket, 14, a magnetic unit controller, 15, a magnetic sucker and 16, a sliding rail.
Fig. 1 is an axonometric view of the invention, fig. 2 and fig. 3 are a front view and a top view of the invention, fig. 4, fig. 5 and fig. 6 are a motion mechanism, an auxiliary motion mechanism and a cavitation water gun of the invention, the movable platform for cleaning the surface dirt of the ship of the invention is mainly composed of a general arrangement platform 1, a watertight structure 2, a control line pipeline 3, a watertight structure 4, an underwater camera 5, a motion wheel 6, a hydraulic telescopic rod 7, an air inlet pipeline 8, an air inlet pipeline 9, a cavitation water gun 10, an inter-wheel connecting piece 11, an electromagnet 12, an anti-skid pad 13, a magnetic unit controller 14, a magnetic suction cup 15 and a slide rail 16.
From fig. 1, 2 and 3, the motion mechanisms arranged at the four sides of the platform and the auxiliary motion mechanism arranged at the center of the platform are seen. The signal transmission line is arranged in the pipeline 3, and the watertight structures 4 are arranged at two ends of the pipeline to protect the line. The magnetic unit controller 14 is located above the platform, and controls the advancing speed of the platform to be matched with the cleaning efficiency of the cavitation water gun 10 and to be adjusted automatically. The power supply and uplink control lines enter the magnetic unit controller 14 through a pipeline, and the interface is protected by a watertight structure 4; the magnetic unit controller 14 respectively extends out lines to the motion mechanism, the auxiliary motion mechanism, the cavitation water gun and the underwater high-definition camera, the lines penetrate through the control line pipeline 2, and the underwater safety of the lines is ensured by the watertight structure 4 at the connection position; the upper mechanism and the lower mechanism of the platform are all arranged on the platform through screws, and the upper mechanism and the lower mechanism are all strong in water tightness; the underwater high-definition cameras 5 are respectively arranged below the front side and the rear side of the platform, and are used for observing the cleaning condition of the cavitation squirt gun 10 and the motion direction of the platform.
Fig. 4 shows a platform movement mechanism, which comprises a central shaft, an inter-wheel connecting piece 11, a movement wheel 6, an electromagnet 12 on the movement wheel 6 and a non-slip mat 13. The electromagnets 12 on the inner and outer wheels 6 of the inner and outer wheels 2 are staggered with respect to the non-slip mat 13. The magnetic unit controller controls the moving wheel 6 to rotate forwards by controlling the strength of the magnetism of the electromagnet 12 which is attached to the surface of the ship body and is separated and not adsorbed; the skid-proof mat 13 prevents the moving wheels from skidding on the surface of the ship body.
Fig. 5 shows the auxiliary motion mechanism of the platform, which comprises a hydraulic telescopic rod 7 and a magnetic suction cup 15 below. When the platform needs to complete steering and oblique movement or in a region with large curvature of the surface of the ship body, an auxiliary movement mechanism is needed to help the platform to be stabilized on the surface of the ship body. When needed, the hydraulic telescopic rod 7 extends the magnetic suction cup 15 to the surface of the ship body, and the magnetic unit controller 14 controls the electromagnet 12 on the magnetic suction cup 15 to be adsorbed on the surface of the ship body.
Fig. 6 shows the cavitation water gun part of the platform, which comprises a slide rail 16, a rotating device, a lifting and lowering device, an air inlet pipe 8, an air inlet pipe 9, a cavitation water gun body and a gun nozzle. When the cleaning boat works, high-pressure water and a bubble mixture are sprayed out from the gun nozzle, and dirt on the surface of the boat body is quickly cleaned. When complex structures such as a bulbous bow, a ship bottom and a ship back which are difficult to clean are met, the cavitation water gun main body is adjusted to move on the slide rail, and meanwhile, the rotation angle and the lifting angle are correspondingly adjusted, so that the space positioning of the cavitation water gun is realized, and the all-dimensional cleaning is realized.
With reference to fig. 1 to 6, the working principle of the movable platform for cleaning the dirt on the surface of the ship of the present invention is as follows: the platform is fixed on the surface of the ship body by the electromagnets 12 on the moving wheels 6, the magnetic unit controller controls 8 moving wheels 6 to change the magnetism of the electromagnets 12 when the upper computer sends a forward command, and the moving wheels 6 roll between magnetic force conversion and simultaneously drive the platform to move forward. The air inlet pipeline 8 and the water inlet pipeline 9 are simultaneously input, and 2 cavitation water guns work to start cleaning the surface of the ship body. When the ship needs to turn, the magnetic unit controller controls the auxiliary motion mechanism to work, the magnetic suction cups 15 are adsorbed on the surface of the ship body and matched with the motion wheels 6 to complete steering. The platform can also complete transverse and oblique movement and other operations by means of the auxiliary movement mechanism.
In summary, the following steps: a movable platform for cleaning dirt on the surface of a ship relates to the field of robot control. The invention aims to realize safe and efficient cleaning of the dirt on the surface of the ship body. The movable platform for cleaning the dirt on the surface of the ship comprises a general arrangement platform 1, a watertight structure 2, a control line pipeline 3, a watertight structure 4, an underwater camera 5, a moving wheel 6, a hydraulic telescopic rod 7, an air inlet pipeline 8, an air inlet pipeline 9, a cavitation water gun 10, an inter-wheel connecting piece 11, an electromagnet 12, an anti-slip mat 13, a magnetic unit controller 14, a magnetic suction cup 15 and a slide rail 16. The invention uses the wheel design, and is combined with the electromagnet to realize the safe adsorption of any position on the surface of the ship body; the use of the cavitation water gun enables the cleaning efficiency and the cleaning effect to be better; the design of the cavitation water gun adjusting mechanism enables any complex structure on the surface of the ship body to be cleaned.
Example 2
The invention aims to clean dirt on the surface of a ship body on water and underwater parts. The device comprises an equipment bearing platform, a motion mechanism, an auxiliary motion mechanism, a dirt cleaning mechanism, a watertight structure, a magnetic unit controller and front and rear underwater observation units. The motion mechanism is composed of 4 wheel-type structures and is respectively positioned on two sides of the platform. The auxiliary motion mechanism is positioned in the center of the platform. The dirt cleaning mechanism is located outside the platform. The magnetic unit controller is positioned on the equipment bearing platform. The underwater observation units are respectively positioned on the front side and the rear side of the platform. The movable platform is characterized in that a platform is designed to move freely on the surface of an underwater ship body, and a cavitation water gun is integrated on the platform on the basis, so that the movable platform for cleaning the dirt on the surface of the ship is completed. The use of the magnetic wheel type movement mechanism enables the surface of the ship body to be comprehensively cleaned, the use of the cavitation water gun can also effectively clean stubborn marine attachments, and the accident rate of cleaning workers is reduced while the working efficiency is improved. The underwater observation unit can clearly observe the movement route and the cleaning effect.
The utility model provides a movable platform of boats and ships surface filth clearance, includes equipment load platform and sets up the motion in equipment load platform both sides equipment load platform upper portion is provided with magnetic unit controller equipment load platform lower part is provided with auxiliary motion mechanism equipment load platform front portion is provided with filth clearance mechanism and preceding observation unit, motion, auxiliary motion mechanism, filth clearance mechanism, watertight structure, magnetic unit controller and the preceding observation unit of following under water the equipment load platform front and back is provided with the observation unit of following.
The magnetic unit controller is connected with the motion mechanism and the auxiliary motion mechanism through wires, pipelines and watertight structures, and the watertight structures are multiple and respectively correspond to the motion mechanisms on two sides of the equipment bearing platform, the auxiliary motion mechanism on the lower portion of the equipment bearing platform and the underwater observation unit.
The motion mechanism is including being connected to the wheel connecting piece, motion wheel, electro-magnet, the anti-skidding rubber between central siphon, damping device and the magnetic wheel of equipment carrying platform, damping device has four sets, and every motion is just respectively installed one set, the motion wheel has eight, and two are a set of symmetric distribution at equipment load-bearing platform downside, and in every motion mechanism, the equal autonomous motion of inside and outside two motion wheels is installed in both sides through the wheel connecting piece symmetry, the magnetic disc has a plurality ofly, evenly installs on the motion wheel, the electro-magnet is controlled by magnetic force unit controller, and every electro-magnet all is the watertight treatment, the anti-skidding sheet rubber has a plurality ofly, has corrosion resisting property, evenly fixes at two adjacent electro-magnet clearances.
The auxiliary movement mechanism comprises a movable watertight structure, an axle tube connected to an equipment carrying platform, a hydraulic telescopic rod, a magnetic sucker and an electromagnet, wherein the hydraulic telescopic rod is connected between the axle tube and a magnetic disk, and the electromagnet is uniformly distributed on the lower surface of a disk body and is subjected to watertight treatment.
The dirt cleaning mechanism comprises a sliding rail, a rotating mechanism, an angle regulator, a water inlet pipeline, an air inlet pipeline, a cavitation water pipe and a gun nozzle, the sliding rail is connected with the cavitation water gun main body and the platform, the water inlet pipeline and the air inlet pipeline are connected to the cavitation water pipe, and the generated cavitation water flow is sprayed out of the gun nozzle.
The watertight structure includes waterproof box, watertight packing ring and hex bolts, and 1 waterproof box and 1 watertight packing ring are installed to every motion, and 5 waterproof boxes and 5 watertight packing rings are installed to magnetic force unit controller.
The magnetic unit controller is placed in the watertight box and fixed above the equipment carrying platform, the cable and the data cable are connected to the upper portion of the watertight box, and the cable and the data cable are connected to the side face of the watertight box.
The underwater observation unit comprises an LED lamp, a front underwater high-definition camera, a rear underwater high-definition camera, a left underwater high-definition camera and a right underwater high-definition camera.

Claims (6)

1. The utility model provides a movable platform of boats and ships surface filth clearance, its structure includes load-bearing platform (1), auxiliary motion mechanism, filth clearance mechanism, magnetic force unit controller (14), filth clearance mechanism, observation unit under water, its characterized in that: the both sides below of load-bearing platform (1) sets up respectively motion, install the middle part below of load-bearing platform (1) auxiliary motion, install the top of load-bearing platform (1) magnetic force unit controller (14), magnetic force unit controller (14) link to each other with motion, auxiliary motion through the wire in control scheme pipeline (3), and filth clearance mechanism is installed to the front portion below of load-bearing platform (1), and the observation unit under water is installed to load-bearing platform (1) below, and the mechanism junction all uses waterproof box, watertight packing ring to carry out the watertight processing.
2. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the four motion mechanisms are all four, each motion mechanism is composed of two coaxial motion wheels through an inter-wheel connecting piece (11), the inter-wheel connecting piece (11) is connected with the bearing platform (1) through a damping device and an axle tube, the two coaxial motion wheels can move independently, electromagnets (12) and anti-skid gaskets (13) are uniformly fixed on the surfaces of the motion wheels in a staggered mode, the electromagnets (12) are connected with the magnetic unit controller (14) through a control circuit pipeline (3), and watertight boxes and watertight gaskets are used at the joints for watertight treatment.
3. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the auxiliary movement mechanism is composed of a hydraulic telescopic pipe (7) and a magnetic sucker (15), the magnetic sucker (15) is connected with the bearing platform (1) through the hydraulic telescopic pipe (7) and an axle pipe, an electromagnet (12) is fixed on the lower surface of the magnetic sucker (15), the electromagnet (12) is connected with the magnetic unit controller (14) through a control line pipeline (3), and the joint is subjected to watertight treatment by using a waterproof box and a watertight gasket.
4. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the dirt cleaning mechanism comprises a sliding rail (16), a rotating mechanism, an angle regulator and a cavitation water gun (10), the cavitation water gun (10) is connected with the sliding rail (16) through the rotating mechanism and the angle regulator, and an air inlet pipeline (8) and a water supply pipeline (9) of the cavitation water gun (10) are connected with a gun nozzle of the cavitation water gun (10) through a cavitation water pipe.
5. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the underwater observation unit comprises an LED lamp, a front underwater high-definition camera, a rear underwater high-definition camera, a left underwater high-definition camera and a right underwater high-definition camera.
6. The movable platform for cleaning the surface of the ship according to claim 1, wherein: the magnetic force unit controller (14) is placed in a watertight structure, and watertight treatment is carried out on joints of the magnetic force unit controller and the watertight structure by using a waterproof box and a watertight gasket.
CN201910914237.3A 2019-09-26 2019-09-26 Movable platform for cleaning dirt on surface of ship Active CN110606172B (en)

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Cited By (9)

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CN111282899A (en) * 2020-04-09 2020-06-16 新昌县玉达电力科技有限公司 Cleaning device for shipbuilding
CN111975789A (en) * 2020-07-28 2020-11-24 河海大学常州校区 Cabin cleaning robot based on electromagnetic principle
CN112061336A (en) * 2020-08-10 2020-12-11 刘玉 Ship cleaning device
CN112092997A (en) * 2020-09-25 2020-12-18 大连海事大学 Cleaning device of underwater ship body cleaning robot and working method thereof
CN112478077A (en) * 2020-11-09 2021-03-12 合肥森印科技有限公司 Cleaning device for ship bottom part attachment of ship body
CN114212213A (en) * 2022-01-07 2022-03-22 江南造船(集团)有限责任公司 Accumulated water cleaning device for water-tight bulkhead of box ship
CN115211284A (en) * 2022-07-13 2022-10-21 湖州职业技术学院(湖州广播电视大学)(湖州社区大学) Walking mechanism of tea leaf harvesting machine
WO2022267139A1 (en) * 2021-06-22 2022-12-29 南京昱晟机器人科技有限公司 Cleaning robot and cleaning method thereof
CN117485504A (en) * 2023-12-28 2024-02-02 威海博航智能科技有限公司 Cleaning equipment for ship body attachments

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