CN110834702A - Ship bottom marine organism cleaning underwater robot - Google Patents
Ship bottom marine organism cleaning underwater robot Download PDFInfo
- Publication number
- CN110834702A CN110834702A CN201911281970.2A CN201911281970A CN110834702A CN 110834702 A CN110834702 A CN 110834702A CN 201911281970 A CN201911281970 A CN 201911281970A CN 110834702 A CN110834702 A CN 110834702A
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- fixedly connected
- holes
- cleaning
- shell
- underwater robot
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an underwater robot for cleaning marine organisms at the bottom of a ship, belongs to the field of marine organism cleaning equipment at the bottom of a ship, and relates to a bicycle pedal inflating device, which belongs to the field of bicycle accessories and consists of an upper shell, a lower shell, an impact device, an adsorption device, a movement device, a cleaning device, a CCD (charge coupled device), an LED (light-emitting diode) lamp, a cable connector, a cleaning motor, a driving gear and a towing cable, wherein the underwater robot has the beneficial effects that: the device can clean and remove hard marine organisms attached to the bottom of the ship; the moving device adopts a steering engine to drive the swinging rod to swing so as to drive the flexible skin to fluctuate, and the noise is low during the movement; the impact device can damage the hard shell of the marine organism at the bottom of the ship so as to realize further cleaning; cleaning device has soft scrubbing brush and stereoplasm scraper blade, can carry out effectual cleaing away to broken ship bottom sea creature.
Description
Technical Field
The invention relates to a ship bottom marine organism cleaning underwater robot, in particular to a ship bottom marine organism cleaning underwater robot which adopts a moving device with a skin and a cleaning device, and belongs to the field of ship bottom marine organism cleaning equipment.
Background
Ships and naval vessels sail and berth in sea water, so that the breeding of marine organisms at the bottom of the ships is difficult to avoid. The ship self gravity is increased due to the bottom of the fouling formed by the adhesion of marine organisms, the navigation speed is reduced and the fuel consumption is greatly increased during navigation, and although scientific researchers develop various antifouling paints to reduce the adhesion of marine organisms, the service life of the coating is short. For marine organisms at the bottom of a ship, underwater cleaning is mostly adopted at present, and because marine organisms attached to the bottom of the ship have different hardness, the marine organisms with hard shells are difficult to clean. Therefore, in terms of cleaning marine organisms on the bottom of a ship, a ship bottom cleaning device having a function of cleaning soft and hard marine organisms is urgently needed, but the device is lacking at present.
Disclosure of Invention
Aiming at the defects, the invention provides an underwater robot for cleaning marine organisms on the bottom of a ship.
The invention is realized by the following technical scheme: a ship bottom marine organism cleaning underwater robot comprises an upper shell, a lower shell, an impact device, an adsorption device, a motion device, a cleaning device, a CCD (charge coupled device), LED (light emitting diode) lamps, a cable joint, a cleaning motor, a driving gear and a towing cable, wherein two inner side surfaces of the upper shell are rotatably connected with two ends of the cleaning device, the two motion devices are respectively and fixedly connected with two sides of the inner bottom surface of the lower shell, the adsorption device is fixedly connected with one side of the bottom surface of the lower shell, the impact device is fixedly connected with one side of the bottom surface of the lower shell, the side surface of the impact device is fixedly connected with the side surface of the adsorption device, the periphery of the bottom surface of the upper shell is fixedly connected with the periphery of the top surface of the lower shell, the four CCDs are respectively and fixedly connected with the periphery of the top surface of the upper shell, the two LED lamps are respectively and fixedly, the other end of the cable joint is fixedly connected with one end of a towing cable, the other end of the towing cable is fixedly connected with a cleaning motor connected with an operation platform on the ship and one side of the inner top surface of the upper shell, a driving gear is fixedly connected with one end of an output shaft of the cleaning motor, and the driving gear is connected with a cleaning device in a gear matching mode;
the lower shell consists of a shell wall, leak holes, swing holes, cable holes, frame holes and plate holes, wherein the leak holes are formed in one end of the bottom surface of the shell wall;
the impact device comprises a toothed plate, a short shaft, a fixed seat and electromagnets, wherein one end of the toothed plate is rotatably connected with the circumferential surface of the short shaft, one end of the fixed seat is rotatably connected with the circumferential surface of the short shaft, one end of the toothed plate is further rotatably connected with one end of the fixed seat, and the two electromagnets are respectively and fixedly connected with two sides in the middle of the inner side surface of the fixed seat;
the adsorption device comprises a vertical plate, long racks, lifting plates, round seats, magnets, lifting motors and lifting gears, wherein the four long racks are divided into two groups on average and are fixedly arranged on two sides of the side surface of the vertical plate respectively;
the vertical plate is composed of a long plate wall, a short plate wall, sliding columns, line holes, fixing holes, rack holes and positioning holes, one side face of the long plate wall is fixedly connected with one side face of the short plate wall, the side faces of the two sliding columns are fixedly connected with the two sides of the side face of the long plate wall respectively, the two sides of the side face of the long plate wall are provided with the two line holes respectively, the top side of the side face of the long plate wall is provided with a plurality of fixing holes, the side face of the long plate wall is symmetrically provided with eight rack holes by the two sliding columns respectively, and the bottom face of the short plate wall is provided with a plurality of positioning holes;
the moving device consists of a fixed frame, steering engines, swinging rods and a skin, wherein the side surfaces inside the fixed frame are respectively and fixedly provided with a plurality of steering engines, one end of each swinging rod is fixedly arranged on the side surface of each steering engine in a bonding mode, and the side surfaces of the swinging rods are fixedly connected with the side surface of the skin in a bonding mode;
the cleaning device comprises a driving gear, a belt pulley shaft, a synchronous belt, a driven shaft, a scrubbing brush and a scraping plate, wherein the driven gear is fixedly connected with one end of the circumferential surface of the belt pulley shaft;
the cleaning motor and the lifting motor are waterproof motors;
the steering engine is a waterproof steering engine;
the magnet is made of neodymium iron boron;
one side surface of the toothed plate is of an intermittent sawtooth structure.
The invention has the advantages that: the device can clean and remove hard marine organisms attached to the bottom of the ship; the moving device adopts a steering engine to drive the swinging rod to swing so as to drive the flexible skin to fluctuate, and the noise is low during the movement; the impact device can damage the hard shell of the marine organism at the bottom of the ship so as to realize further cleaning; the cleaning device is provided with a soft scrubbing brush and a hard scraping plate, and can effectively clean broken marine organisms at the bottom of the ship; the underwater robot can be adsorbed to the bottom of the ship by the adsorption device through the magnet, so that the overall stability in the cleaning process is improved; the lower shell is provided with a leakage hole, and marine organisms crushed and dropped by the impact device can fall through the leakage hole; the adsorption device can be lifted and can be lowered into the lower shell when not being adsorbed; the magnet is made of neodymium iron boron, so that the adsorption force of the device on the bottom of the ship is increased; the surface of a toothed plate in the adsorption impact device is composed of an intermittent sawtooth structure, so that the destructiveness to the hard marine organisms at the bottom of the ship is increased.
Drawings
FIG. 1 is an axial schematic view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken from a top view A-A of the present invention;
FIG. 4 is a lower housing axis schematic view;
FIG. 5 is a top view of the lower housing;
FIG. 6 is a schematic view of an impact device;
FIG. 7 is a schematic view of an adsorption apparatus;
FIG. 8 is a schematic view of the connection between the lifting plate and the vertical plate;
FIG. 9 is a front view of the riser;
FIG. 10 is a bottom view of the riser;
FIG. 11 is a schematic view of the riser axis;
FIG. 12 is a schematic axial view of the exercise apparatus;
FIG. 13 is a schematic view of a swing lever connection;
FIG. 14 is a schematic view of the cleaning motor coupled to the cleaning apparatus;
FIG. 15 is a schematic axial view of the cleaning apparatus;
fig. 16 is a front view of the cleaning apparatus.
In the figure, 1, an upper shell, 2, a lower shell, 201, a shell wall, 202, a leak hole, 203, a swinging hole, 204, a cable hole, 205, a frame hole, 206, a plate hole, 3, an impact device, 301, a toothed plate, 302, a short shaft, 303, a fixed seat, 304, an electromagnet, 4, an adsorption device, 401, a vertical plate, 40101, a long plate wall, 40102, a short plate wall, 40103, a sliding column, 40104, a wire hole, 40105, a fixed hole, 40106, a rack hole, 40107, a positioning hole, 402, a long rack, 403, a lifting plate, 404, a round seat, 405, a magnet, 406, a lifting motor, 407, a lifting gear, 5, a moving device, 501, a fixed seat, 502, a steering engine, 503, a swinging rod, 504, a skin covering, 6, a cleaning device, 601, a driven gear, 602, a belt wheel shaft, 603, a synchronous belt, 604, a driven shaft, 605, a plate brush, 606, a scraper, 7, a CCD, 8, an LED lamp, 9, a, 11. drive gear, 12, streamer.
Detailed Description
A ship bottom marine organism cleaning underwater robot comprises an upper shell 1, a lower shell 2, an impact device 3, an adsorption device 4, a movement device 5, a cleaning device 6, a CCD7, LED lamps 8, a cable joint 9, a cleaning motor 10, a driving gear 11 and a towing cable 12, wherein two inner side surfaces of the upper shell 1 are rotatably connected with two ends of the cleaning device 6, the two movement devices 5 are respectively and fixedly connected with two sides of the inner bottom surface of the lower shell 2, the adsorption device 4 is fixedly connected with one side of the bottom surface of the lower shell 2, the impact device 3 is fixedly connected with one side of the bottom surface of the lower shell 2, the side surface of the impact device 3 is further fixedly connected with the side surface of the adsorption device 4, the periphery of the bottom surface of the upper shell 1 is fixedly connected with the periphery of the top surface of the lower shell 2, four CCD7 are respectively and fixedly connected with the periphery of the top surface of the upper shell 1, and the two LED lamps 8 are respectively, one end of a cable joint 9 is fixedly connected with one end of the outer side surface of the lower shell 2, the other end of the cable joint 9 is fixedly connected with one end of a towing cable 12, the other end of the towing cable 12 is fixedly connected with a cleaning motor 10 connected with an operation platform on the ship and one side of the inner top surface of the upper shell 1, a driving gear 11 is fixedly connected with one end of an output shaft of the cleaning motor 10, and the driving gear 11 is connected with the cleaning device 6 in a gear matching mode;
the lower shell 2 consists of a shell wall 201, leak holes 202, swing holes 203, cable holes 204, frame holes 205 and plate holes 206, wherein the leak holes 202 are formed at one end of the bottom surface of the shell wall 201, seven swing holes 203 are formed in two side surfaces in the shell wall 201 respectively, the cable holes 204 are formed in one side surface of the shell wall 201, the frame holes 205 are formed in two sides of the bottom surface of the shell wall 201 respectively, and the plate holes 206 are formed in one side of the bottom surface of the shell wall 201;
the impact device 3 is composed of a toothed plate 301, a short shaft 302, a fixed seat 303 and electromagnets 304, wherein one end of the toothed plate 301 is rotatably connected with the circumferential surface of the short shaft 302, one end of the fixed seat 303 is rotatably connected with the circumferential surface of the short shaft 302, one end of the toothed plate 301 is rotatably connected with one end of the fixed seat 303, and the two electromagnets 304 are respectively and fixedly connected with two sides in the middle of the inner side surface of the fixed seat 303;
the adsorption device 4 comprises a vertical plate 401, long racks 402, lifting plates 403, round seats 404, magnets 405, lifting motors 406 and lifting gears 407, wherein the four long racks 402 are divided into two groups on average and are fixedly mounted on two sides of the side surface of the vertical plate 401 respectively, the two lifting plates 403 are respectively in sliding connection with two ends of the side surface of the vertical plate 401, the two round seats 404 are respectively and fixedly connected with the middle of the top surfaces of the two lifting plates 403, one ends of the two magnets 405 are respectively and fixedly connected with one ends of the two round seats 404 through bonding, the four lifting motors 406 are divided into two groups on average and are respectively and fixedly connected with one side of the top surfaces of the two lifting plates 403, the four lifting gears 407 are respectively and fixedly connected with the four lifting motors 406, and the four lifting gears 407 are respectively and rotatably connected with the four long racks;
the vertical plate 401 comprises a long plate wall 40101, a short plate wall 40102, sliding columns 40103, wire holes 40104, fixing holes 40105, rack holes 40106 and positioning holes 40107, one side surface of the long plate wall 40101 is fixedly connected with one side surface of the short plate wall 40102, the side surfaces of the two sliding columns 40103 are respectively fixedly connected with two sides of the side surface of the long plate wall 40101, two wire holes 40104 are respectively formed in two sides of the side surface of the long plate wall 40101, six fixing holes 40105 are formed in the top side surface of the long plate wall 40101, eight rack holes 40106 are respectively formed in the side surface of the long plate wall 40101 symmetrically through the two sliding columns 40103, and a plurality of positioning holes 40107 are formed in the bottom surface of the short plate wall 40102;
the moving device 5 is composed of a fixed frame 501, steering gears 502, swinging rods 503 and a skin 504, wherein seven steering gears 502 are fixedly installed on the inner side surfaces of the fixed frame 501 respectively, one end of each swinging rod 503 is fixedly installed on the side surface of the steering gear 502 in a bonding mode, and the side surfaces of the swinging rods 503 are fixedly connected with the side surface of the skin 504 in a bonding mode;
the cleaning device 6 comprises a driven gear 601, a pulley shaft 602, a synchronous belt 603, a driven shaft 604, a scrubbing brush 605 and a scraping plate 606, wherein the driven gear is fixedly connected with one end of the circumferential surface of the pulley shaft 602, the circumferential surface of the pulley shaft 602 is rotatably connected with one end of the inner side of the synchronous belt 603, the circumferential surface of the driven shaft 604 is rotatably connected with the other end of the inner side of the synchronous belt 603, the bottom surfaces of a plurality of scrubbing brushes 605 are fixedly connected with the outer side surface of the synchronous belt 603 in a bonding mode, the bottom surfaces of a plurality of scraping plates 606 are fixedly connected with the outer side surface of the synchronous belt 603 in a bonding mode, and the scrubbing brushes 605 and the;
the cleaning motor 10 and the lifting motor 406 are waterproof motors;
the steering engine 502 is a waterproof steering engine;
the magnet 405 is made of neodymium iron boron;
one side surface of the toothed plate 301 is of an intermittent sawtooth structure.
When the device is used, the device is placed under water, the swinging rod 503 swings under the driving of the steering engine 502, the skin 504 swings and moves to the bottom of the ship, the CCD7 and the LED lamp 8 are electrified, the skin 504 drives the device to move to the bottom of the ship through the light irradiation of the LED lamp 8 and the image transmission of the CCD7, the lifting motor 406 rotates in the positive direction at the moment, the adsorption device 4 ascends under the matching movement of the long rack 402 until one end of the magnet 405 is adsorbed on the surface of the bottom of the ship, the electromagnet 304 is electrified at the moment, the extension rod of the electromagnet 304 extends out, the toothed plate 301 is pushed to rotate to the far position around the short rod to enable the toothed plate 301 to impact marine organisms at the bottom of the ship, the electromagnet 304 is powered off at the moment, the extension rod of the electromagnet 304 is retracted, the toothed plate 301 rotates to the near position around the short rod under the action of gravity until the toothed plate 301 is contacted with the extension rod, the toothed plate 301 is made to impact marine organisms at the bottom of the ship again, the electromagnet 304 and the toothed plate 301 move repeatedly until the marine organisms at the bottom of the ship are damaged, the broken and dropped marine organism residues drop to the outside of the lower shell 2 through the leak holes 202, at the moment, the lifting motor 406 rotates reversely, the adsorption device 4 descends to the inside of the lower shell 2, the skin 504 is driven by the steering engine 502 to flap to move to drive the device to move until the cleaning device 6 is in contact with the broken marine organisms at the bottom of the ship, at the moment, the cleaning motor 10 rotates to drive the driving gear 11 to rotate, further drive the driven gear 601 and the pulley shaft 602 to rotate, further drive the synchronous belt 603 to rotate, the plate brush 605 and the scraper 606 on the outer surface of the synchronous belt 603 do rotary motion along with the step belt 603, the broken marine organisms at the bottom of the ship are cleaned, and the above-mentioned motions are repeated until the marine.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (7)
1. The utility model provides a ship bottom marine organism clearance underwater robot, is by last casing, lower casing, impact device, adsorption equipment, telecontrol equipment, cleaning device, CCD, LED lamp, cable joint, clearance motor, driving gear and tow cable are constituteed, its characterized in that: two side surfaces inside the upper shell are rotatably connected with two ends of the cleaning device, the two motion devices are respectively fixedly connected with two sides of the bottom surface inside the lower shell, the adsorption device is fixedly connected with one side of the bottom surface of the lower shell, the impact device is fixedly connected with one side of the bottom surface of the lower shell, further, the side surface of the impact device is fixedly connected with the side surface of the adsorption device, the periphery of the bottom surface of the upper shell is fixedly connected with the periphery of the top surface of the lower shell, four CCDs are respectively fixedly connected with the periphery of the top surface of the upper shell, two LED lamps are respectively fixedly connected with two sides of the top surface of the upper shell, one end of the cable joint is fixedly connected with one end of the outer side surface of the lower shell, the other end of the cable joint is fixedly connected with one end of a towing cable, the other end of the towing, the driving gear is connected with the cleaning device in a gear matching mode.
2. The marine bottom bioremediation underwater robot of claim 1 wherein: the lower shell comprises a shell wall, leak holes, swing holes, cable holes, frame holes and plate holes, wherein the leak holes are formed in one end of the bottom surface of the shell wall, a plurality of swing holes are formed in two side surfaces inside the shell wall respectively, the cable holes are formed in one side surface of the shell wall, a plurality of frame holes are formed in two sides of the bottom surface of the shell wall respectively, and a plurality of plate holes are formed in one side of the bottom surface of the shell wall.
3. The marine bottom bioremediation underwater robot of claim 1 wherein: the impact device comprises a toothed plate, a short shaft, a fixed seat and electromagnets, wherein one end of the toothed plate is rotatably connected with the circumferential surface of the short shaft, one end of the fixed seat is rotatably connected with the circumferential surface of the short shaft, one end of the toothed plate is further rotatably connected with one end of the fixed seat, and the two electromagnets are respectively and fixedly connected with two sides in the middle of the inner side surface of the fixed seat; one side surface of the toothed plate is of an intermittent sawtooth structure.
4. The marine bottom bioremediation underwater robot of claim 1 wherein: the adsorption device comprises a vertical plate, long racks, lifting plates, round seats, magnets, lifting motors and lifting gears, wherein the four long racks are divided into two groups on average and are fixedly arranged on two sides of the side surface of the vertical plate respectively;
the vertical plate is composed of a long plate wall, a short plate wall, sliding columns, line holes, fixing holes, rack holes and positioning holes, one side face of the long plate wall is fixedly connected with one side face of the short plate wall, the side faces of the two sliding columns are fixedly connected with the two sides of the side face of the long plate wall respectively, the two sides of the side face of the long plate wall are provided with the two line holes respectively, the top side of the side face of the long plate wall is provided with a plurality of fixing holes, the side face of the long plate wall is symmetrically provided with eight rack holes by the two sliding columns respectively, and the bottom face of the short plate wall is provided with a plurality of positioning holes; the cleaning motor and the lifting motor are waterproof motors; the magnet material be neodymium iron boron.
5. The marine bottom bioremediation underwater robot of claim 1 wherein: the moving device consists of a fixed frame, steering engines, swinging rods and a skin, wherein the side surfaces inside the fixed frame are respectively and fixedly provided with a plurality of steering engines, one end of each swinging rod is fixedly arranged on the side surface of each steering engine in a bonding mode, and the side surfaces of the swinging rods are fixedly connected with the side surface of the skin in a bonding mode; the steering engine is a waterproof steering engine.
6. The marine bottom bioremediation underwater robot of claim 1 wherein: the cleaning device comprises a driving gear, a belt wheel shaft, a synchronous belt, a driven shaft, a scrubbing brush and a scraper, wherein the driven gear is fixedly connected with one end of the circumferential surface of the belt wheel shaft, the circumference of the belt wheel shaft is rotatably connected with one end of the inner side of the synchronous belt, the circumference of the driven shaft is rotatably connected with the other end of the inner side of the synchronous belt, the bottom surfaces of the scrubbing brushes are fixedly connected with the outer side surface of the synchronous belt in a bonding mode, the bottom surfaces of the scraper are fixedly connected with the outer side surface of the synchronous belt in a bonding mode, and the scrubbing brush and the scraper are.
7. The marine bottom bioremediation underwater robot of claim 1 wherein: the cleaning motor is a waterproof motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911281970.2A CN110834702A (en) | 2019-12-13 | 2019-12-13 | Ship bottom marine organism cleaning underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911281970.2A CN110834702A (en) | 2019-12-13 | 2019-12-13 | Ship bottom marine organism cleaning underwater robot |
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| Publication Number | Publication Date |
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| CN110834702A true CN110834702A (en) | 2020-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911281970.2A Pending CN110834702A (en) | 2019-12-13 | 2019-12-13 | Ship bottom marine organism cleaning underwater robot |
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| CN (1) | CN110834702A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232812A (en) * | 2021-04-30 | 2021-08-10 | 西安交通大学 | Magnetic field driven full-flexible fin and preparation method thereof |
| CN113650750A (en) * | 2021-10-19 | 2021-11-16 | 南通军华船舶配件有限公司 | Ship bottom biological cleaning device |
-
2019
- 2019-12-13 CN CN201911281970.2A patent/CN110834702A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232812A (en) * | 2021-04-30 | 2021-08-10 | 西安交通大学 | Magnetic field driven full-flexible fin and preparation method thereof |
| CN113232812B (en) * | 2021-04-30 | 2022-05-06 | 西安交通大学 | Magnetic field driven full-flexible fin and preparation method thereof |
| CN113650750A (en) * | 2021-10-19 | 2021-11-16 | 南通军华船舶配件有限公司 | Ship bottom biological cleaning device |
| CN113650750B (en) * | 2021-10-19 | 2021-12-24 | 南通军华船舶配件有限公司 | Ship bottom biological cleaning device |
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