CN111422314A - Hull surface attachment cleaning equipment - Google Patents
Hull surface attachment cleaning equipment Download PDFInfo
- Publication number
- CN111422314A CN111422314A CN202010431892.6A CN202010431892A CN111422314A CN 111422314 A CN111422314 A CN 111422314A CN 202010431892 A CN202010431892 A CN 202010431892A CN 111422314 A CN111422314 A CN 111422314A
- Authority
- CN
- China
- Prior art keywords
- unit
- shovel
- cleaning
- hull surface
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 109
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 29
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 abstract 1
- 239000011241 protective layer Substances 0.000 abstract 1
- 238000005260 corrosion Methods 0.000 description 7
- 230000007797 corrosion Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 241000700670 Bryozoa Species 0.000 description 1
- 241000238586 Cirripedia Species 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 101000860173 Myxococcus xanthus C-factor Proteins 0.000 description 1
- 241000237502 Ostreidae Species 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
Abstract
The invention discloses a ship hull surface attachment cleaning device, which comprises a cleaning device, wherein the cleaning device comprises: the walking unit is used for walking on the surface of the ship body; a magnetic attraction unit connected to the walking unit and having a magnetic force to be attracted to a hull; and a cleaning unit for cleaning the surface of the hull; the cleaning unit has: an impact shovel connected to the traveling unit through a swing mechanism, whereby a shoveling direction of the impact shovel can be adjusted by rotation of the swing mechanism. The invention can remove marine organisms and rust adsorbed on the ship body under the action of the cleaning shovel by the cleaning unit under the control of the video tracking unit and the controller when the ship docks and enters the port (or waits to enter the port) without damaging the protective layer of the ship body. And no matter on the dock platform or at sea in the whole process, manual operation is not needed, and intelligent cleaning is carried out in the whole process.
Description
Technical Field
The invention relates to the technical field of ship maintenance and navigation equipment, in particular to ship surface attachment cleaning equipment.
Background
Existing marine vessel hulls are often contaminated with marine organisms such as: barnacles, oyster, limestworms, bryozoans, algae and the like are adsorbed on the ship body and are not removed for a long time, so that the surface of the ship body is easily corroded, and rusty spots and the like are generated. The existence of the attachments can accelerate the corrosion of the ship body, increase the advancing resistance of the ship and slow down the navigation speed of the ship, and can reduce the strength of the ship and greatly limit the fighting capacity of the warship and the transport capacity of the marine ship.
The conventional cleaning mode mostly adopts manual cleaning for returning to the harbor and docking at regular intervals, and the cleaning mode has the disadvantages of high labor intensity, long operation time, high cost and low efficiency.
Accordingly, a technical solution is desired to overcome or at least alleviate at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
It is an object of the present invention to provide a hull surface deposit clearing apparatus that overcomes or at least mitigates at least one of the above-mentioned disadvantages of the prior art.
In order to achieve the above object, the present invention provides a ship hull surface attachment cleaning apparatus including a cleaning device, the cleaning device including:
the walking unit is used for walking on the surface of the ship body;
a magnetic attraction unit connected to the walking unit and having a magnetic force to be attracted to a hull; and
the cleaning unit is used for cleaning the surface of the ship body;
the cleaning unit has:
an impact shovel connected to the traveling unit through a swing mechanism, whereby a shoveling direction of the impact shovel can be adjusted by rotation of the swing mechanism;
hydraulic power unit, it is established through an airtight box on the walking unit, hydraulic power unit includes motor and pump, and this motor passes through the parallelly connected hydraulic branch road that sets up of pump connection, does respectively the running gear and do motor among the rotation mechanism provides power, each the hydraulic branch road sets up the solenoid valve, the solenoid valve all connects through power communication cable operation control device is controlled by operation control device.
Further, the hull surface attachment cleaning apparatus further comprises:
the image acquisition device is used for acquiring image information of the surface of the ship body; and
the operation control device is in communication connection with the image acquisition device so as to receive the image information acquired by the image acquisition device; and the operation control device is in communication connection with the cleaning device so as to control the walking speed and direction of the walking unit.
Further, the operation control device is connected with the image acquisition device and the cleaning device through a power communication cable, and the power communication cable can transmit electric power besides transmitting image information and control information.
Further, the power communication cable comprises a zero-floating power line, a communication cable and a zero-floating connecting rope which are connected into a bundle.
Furthermore, the cleaning device is also provided with a buoyancy unit, and the buoyancy unit is arranged on the walking unit and provides upward buoyancy for the walking unit when the walking unit is positioned in water.
Further, the cleaning unit includes the impact shovel, the impact shovel includes shovel main part and shovel sword, and sets up shovel main part and shovel sword between the elastic component, the elastic component is in shovel main part and shovel sword play cushioning effect.
Further, the shovel main part has the shovel arm, the one end of shovel arm with shovel sword elastic connection, the other end of shovel arm is connected to with rotating on the rotation mechanism, hull surface attachment cleaning equipment still includes positioning spring, positioning spring one end butt rotation mechanism, the position of the neighbouring shovel sword on the other end butt shovel arm for the blade of shovel sword hugs closely the hull surface.
Furthermore, the walking unit is provided with a frame assembly and crawler assemblies connected to two sides of the frame assembly, and the swing mechanism is arranged on the frame assembly.
Further, a gap is formed between the magnetic suction unit and the surface of the ship body, and the gap is larger than or equal to 3cm and smaller than or equal to 10 cm.
Furthermore, the magnetic unit comprises a permanent magnet and/or an electromagnet, and the magnetic force between the magnetic unit and the ship body is more than or equal to 1.1 times and less than or equal to 1.25 times of the weight of the ship body surface attachment cleaning equipment.
Due to the adoption of the technical scheme, the invention has the following advantages: .
In conclusion, when the ship is used for cleaning marine life and corrosion of the ship, the video tracking unit acquires information of the surface of the ship to be cleaned, the cleaning unit is controlled to clean the whole surface through information processing of remote operation control, and the power communication cable not only provides power and communication in the whole process, but also provides safety guarantee. With the use of the invention, the problem of low cleaning efficiency caused by time-consuming, labor-consuming and high cost of marine organism and corrosion cleaning of ships is solved.
Drawings
Fig. 1 is a schematic side view of a ship hull surface attachment cleaning device provided by an embodiment of the invention.
Fig. 2 shows a rear view of the hull surface deposit removing apparatus of fig. 1.
Fig. 3 shows a top view of the hull surface deposit clearing device of fig. 1.
Fig. 4 shows a hydraulic control schematic diagram of a cleaning device in the hull surface deposit cleaning apparatus.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1 to 3, the ship hull surface attachment cleaning device provided by the present embodiment includes a cleaning device 1, a video tracking device 2, an operation control device 3, and a power communication cable 4. The video tracking device 2 is used for collecting image information of the surface of the ship body to be cleaned and outputting the image information. The operation control device 3 is connected with the video tracking device 2 and the cleaning device 1 through a power communication cable 4, and the operation control device 3 is used for receiving the image information collected by the video tracking device 2, identifying the position of the attachment in the image information and sending a driving control instruction and a cleaning control instruction to the cleaning device 1.
The cleaning device 1 has a traveling unit 11, a magnetic attracting unit 12, a swing mechanism 13, an impact shovel 14, and an elastic mechanism.
The walking unit 11 walks on the surface of the ship body to be cleaned under the action of power drive. Since the surface of the hull to be cleaned is mainly concentrated on the side and bottom areas of the hull to be cleaned, the larger the area that the walking unit 11 walking on the surface of the hull to be cleaned can contact, the more stable the walking is. Therefore, in one embodiment, the traveling unit 11 is a crawler traveling device having advantages of a high load-bearing capacity, a large contact area with the hull surface, a high traveling capacity, and a high stability. Specifically, as shown in the drawing, the traveling unit 11 has a frame assembly 111 and crawler assemblies 112 connected to both sides of the frame assembly 111. Of course, the running unit 11 may also take other forms of running gear, such as roller, also such as skid, etc.
The magnetic attraction unit 12 is connected to the walking unit 11, such as the bottom of the walking unit 11. In the above embodiment, the magnetic unit 12 is disposed on the bottom surface of the frame assembly 111 between the track assemblies 112 on both sides, and the magnetic unit 12 has a magnetic force to attract the surface of the hull to be cleaned, so that the traveling unit 11 can be attracted to the surface of the hull to be cleaned by the magnetic unit 12. That is, the walking unit 11 is provided with a holding force for walking on the surface of the ship body to be cleaned. The magnetic unit 12 has the gravity on the earth surface similar to the earth surface, and a certain positive pressure is kept for any orientation of the walking unit 11 on the surface of the ship body to be cleaned. The walking unit 11 is similar to an object on the earth's surface, so that the walking unit 11 can freely move 360 on the vertical surface, the elevation surface and the like near the surface of the ship body to be cleaned by means of the magnetic attraction unit 120The full angle hull surface is maintained and walked, ensuring a walking friction draft of the track assembly 112 of the travel unit 11 on the near side surface of the hull to be cleaned.
In one embodiment, the magnetic attraction unit 12 has a gap with the hull surface, and the gap is greater than or equal to 3cm and less than or equal to 10 cm. Thus, interference with attachments on the hull surface during traveling can be avoided, and a large magnetic force can be advantageously maintained.
In one embodiment, the magnetic unit 12 comprises a permanent magnet and/or an electromagnet, and the magnetic force between the magnetic unit 12 and the hull is greater than or equal to 1.1 times and less than or equal to 1.25 times the weight of the hull surface attachment cleaning equipment.
The swing mechanism 13 is disposed on the frame assembly 111 and is parallel to the crawler chassis. The turning mechanism 13 is used to support an impact shovel 14, and the impact shovel 14 is provided on the traveling unit 11 by the turning mechanism 13 in a rotatable manner with respect to the turning mechanism 13, so that the shoveling direction of the impact shovel 14 can be adjusted by the rotation of the turning mechanism 13. The impact shovel 14 is an execution component for cleaning attachments of the ship body to be cleaned, and the attachments of the ship body to be cleaned are peeled off from the surface of the ship body by adopting an impact shoveling mode under the action of hydraulic force.
The impact shovel 14 comprises a shovel body and a shovel blade 142, and an elastic member arranged between the shovel body and the shovel blade 142, wherein the elastic member plays a role of buffering between the shovel body and the shovel blade 142. specifically, the shovel body is L-shaped, the shovel body is provided with a shovel arm 141, one end of the shovel arm 141 is elastically connected with the shovel blade 142, the other end of the shovel arm 141 is rotatably connected to the slewing mechanism 13. the slewing mechanism 13 and the shovel arm 141 of the impact shovel 14 form a slewing motion with the slewing mechanism 13 as a central point, so that the slewing angle of the slewing mechanism 13 is an area which can be cleaned by the impact shovel 14. meanwhile, under the cooperation of the walking unit 11, the central point of the slewing mechanism 13 mounted on the frame assembly 111 synchronously walks, so that the single-point cleaning of the impact shovel 14 with the slewing mechanism 13 as a central point is changed into the cleaning of a surface area, and the repeated cleaning of the same cleaning area is avoided.
The hull surface attachment cleaning equipment further comprises a positioning spring 15, one end of the positioning spring 15 is abutted against the rotary mechanism 13, the other end of the positioning spring 15 is abutted against the position, adjacent to the shovel blade 142, on the shovel arm 141, and the cutting edge of the shovel blade 142 is tightly attached to the surface of the hull to be cleaned under the positioning action of the spring force provided by the positioning spring 15, so that marine organisms and corrosion adsorbed on the shovel arm can be effectively stripped. The working point of the impact shovel 14 on the hull surface is realized by orderly and independently controlling the slewing mechanism 13 and the traveling unit 11 by the operation control device 3, and the hull surface can be completely cleaned.
The cleaning device 1 further has a buoyancy mechanism 16, and the buoyancy mechanism 16 is provided on the traveling unit 11 to provide upward buoyancy to the traveling unit 11 when it is located in the water. The buoyancy mechanism 16 may be a buoyancy cylinder, such as an inflatable rubber insert, or a buoyancy bag, and mainly reduces the downward slip caused by the self-weight of the cleaning device 1 under water by using the buoyancy of water, thereby effectively ensuring the suction force and the walking reliability of the cleaning device 1 on the surface of the ship body to be cleaned, and enabling the ship body to walk more flexibly.
As shown in fig. 4, the cleaning device 1 further has a hydraulic pump station 17, and the hydraulic pump station 17 is disposed on the traveling unit 11 through a closed box body to ensure that the underwater operation is not corroded by seawater and can bear a certain pressure resistance. The hydraulic pump station 17 comprises a motor 171 and a pump 172, the motor 171 is connected with hydraulic branches arranged in parallel through the pump 172, and respectively provides power for the walking unit 11 and the motor in the swing mechanism 13, each hydraulic branch is provided with an electromagnetic valve 173, and the electromagnetic valves 173 are all connected with the operation control device 3 through power communication cables 4, controlled by the operation control device 3, and powered by the operation control device 3.
The video tracking device 2 is mounted on the cleaning device 1. The video tracking device 2 is used for collecting marine life and corrosion image information on the ship body in front, and the marine life and corrosion image information is transmitted to the operation control device 3 after being subjected to image processing, and the cleaning unit is controlled to clean all the surfaces of the ship body. The video tracking device 2 comprises an underwater high-definition camera and an image processing system, and is 360 degrees underwater0The high-definition camera is used for collecting and identifying whether marine organisms and corrosion exist in detected attachments needing to be cleaned and uploading images and information to the image processor, and the underwater high-definition camera is water pressure resistant, shockproof and has an automatic adjusting function, the image processor converts image signals into electric signals and transmits the electric signals to a P L C signal in the electric cabinet through a transcoding communication system in a wireless or wired modeThe processor is used for processing, the walking unit 11 and the impact shovel 14 of the cleaning device 1 are controlled after the processing, and the cleaning device 1 is controlled to clean the whole surface of the ship.
The video tracking device 2 arranged at the top of the slewing mechanism 13 at the head of the walking device collects images of marine organisms and rusty objects on the ship body in front, and the images are processed by the image processor and then processed by remote information.
The operation control device 3 adopts an automatic and remote control mode and comprises a control box and a handheld video operator. Wherein:
the control box comprises a P L C and a servo amplifier, wherein the P L C is used for automatically processing information collected by the video tracking device 2 and controlling the cleaning execution action of the cleaning device 1, the servo amplifier is used for controlling the driving direction of the cleaning device 1 according to attachments on the surface of a ship body, so that the control box can output two control commands, one is that the P L C outputs a cleaning execution action command for controlling the cleaning device 1, the other is that the servo amplifier outputs a driving direction command for controlling the cleaning device 1, the control box also comprises a feeding execution speed frequency converter, a frequency conversion driver, a relay and a contactor, the control box and the P L C and the servo amplifier form a control loop together, the relay and the contactor are used for controlling the on-off of the circuit of the control loop, and the motor for a pump station of the frequency conversion motor controls the flow and the pressure of the pump station and also controls the working speed.
The hand-held video operator has a directional control lever for manually controlling the direction of travel of the cleaning device 1, i.e. outputs a direction of travel command for controlling the cleaning device 1. The different orientations of the directional control levers correspond to different driving directions of the cleaning device 1, such as front, rear, left and right, where "front" corresponds to the direction of the head of the cleaning device 1, "rear" corresponds to the direction of the tail of the cleaning device 1, "left" corresponds to the left side determined based on the front-rear direction, and "right" corresponds to the opposite direction to "left". The handheld video operator is also provided with an attachment cleaning button, a start-stop button, a video monitoring screen button, a speed adjusting knob and the like, so that background personnel can remotely use the handheld video operator when monitoring operation is needed. The cleaning attachment button is used for manually controlling and controlling the cleaning execution action of the cleaning device 1, namely outputting a cleaning execution action command of the cleaning device 1. The start-stop button is used for manually controlling the start-up and stop of the cleaning apparatus 1. The video monitor screen button is used for controlling the start and stop of the video tracking device 2. The speed adjusting knob is used for manually controlling the driving speed of the cleaning device 1.
The operation control device 3 is connected with the cleaning device 1 through the power communication cable 4, and the power communication cable 4 has the following three functions: on the first hand, the operation control device 3 can be in information interaction with the cleaning device 1 through the power communication cable 4; in a second aspect, the operation control device 3 may supply power to the cleaning device 1 through the power communication cable 4; in a third aspect, the power communication cable 4 may also be used as a protective cable for the cleaning apparatus 1.
Specifically, the power communication cable 4 includes a communication cable, a zero-float power line, and a zero-float connection rope connected in a bundle, and is wound and unwound by an electric cable winding rack on the dock, and the cable winding rack is wound and unwound by manually operating the position of the cleaning device 1, so as to avoid being wound and bound by foreign matters near the hull. By "zero buoyancy" is meant substantially zero buoyancy when used in water or seawater.
Through the communication cable 4, the operation control device 3 can exchange information with the cleaning device 1, such as: and transmitting the image-text information obtained by the video tracking device 2 to the operation control device 3, and commanding the cleaning device 1 to walk and cleaning operation instructions for the ship body after processing. Of course, the operation control device 3 may exchange information with the cleaning device 1 or may use a wireless mode.
The operation control device 3 can supply power to the cleaning device 1 through the floating power line.
The zero floats and connects rope intensity height, can regard as cleaning device 1's protection cable, for example can protect whole power communication cable 4 not receive the strain when dragging, can also play the effect of pulling back formula cleaning device 1 when removing formula cleaning device 1 breaks down and breaks away from the hull.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A ship hull surface attachment cleaning apparatus, characterized in that the ship hull surface attachment cleaning apparatus comprises a cleaning device (1), and the cleaning device (1) comprises:
a walking unit (11) for walking on the surface of the ship body;
a magnetically attracting unit (12) connected to the walking unit (11), and the magnetically attracting unit (12) having a magnetic force to be attracted to a hull; and
the cleaning unit is used for cleaning the surface of the ship body;
the cleaning unit has:
an impact shovel (14) connected to the traveling unit (11) through a swing mechanism (13), whereby a shoveling direction of the impact shovel (14) can be adjusted by rotation of the swing mechanism (13);
hydraulic power unit (17), it establishes through a seal box on walking unit (11), hydraulic power unit (17) include motor (171) and pump (172), and this motor (171) connects the hydraulic pressure branch road of parallelly connected setting through pump (172), do respectively walking mechanism (11) and for motor in rotation mechanism (13) provides power, each hydraulic pressure branch road sets up solenoid valve (173), solenoid valve (173) all connect through power communication cable (4) operation control device (3) are controlled by operation control device (3).
2. The hull surface deposit removing apparatus of claim 1, further comprising:
the image acquisition device (2) is used for acquiring image information of the surface of the ship body; and
the operation control device (3) is in communication connection with the image acquisition device (2) to receive the image information acquired by the image acquisition device (2); and the operation control device (3) is in communication connection with the cleaning device (1) to control the walking speed and direction of the walking unit (11).
3. The ship hull surface attachment cleaning apparatus according to claim 1, characterized in that the operation control device (3) is connected with the image capturing device (2) and the cleaning device (1) through a power communication cable (4), and the power communication cable (4) can transmit electric power in addition to transmitting image information and control information.
4. The hull surface adhesion cleaning apparatus of claim 3, characterized in that the power communication cable (4) comprises a zero-float power line, a communication cable and a zero-float connection rope connected in a bundle.
5. The hull surface attachment cleaning apparatus according to claim 1, characterized in that the cleaning device (1) further has a buoyancy unit (16), and the buoyancy unit (16) is provided on the walking unit (11) to provide upward buoyancy to the walking unit (11) when it is located in water.
6. The ship hull surface attachment cleaning device according to any one of claims 1-5, characterized in that the cleaning unit comprises a striking shovel (14), the striking shovel (14) comprising a shovel body and a shovel edge (142), and an elastic member arranged between the shovel body and the shovel edge (142), the elastic member acting as a buffer between the shovel body and the shovel edge (142).
7. The hull surface attachment cleaning apparatus according to claim 6, characterized in that the shovel body has a shovel arm (141), one end of the shovel arm (141) is elastically connected with the shovel blade (142), the other end of the shovel arm (141) is rotatably connected to the slewing mechanism (13), the hull surface attachment cleaning apparatus further comprises a positioning spring (15), one end of the positioning spring (15) abuts against the slewing mechanism (13), and the other end abuts against a position on the shovel arm (141) adjacent to the shovel blade (142), so that the cutting edge of the shovel blade (142) abuts against the hull surface.
8. The ship hull surface attachment cleaning device according to claim 7, characterized in that the walking unit (11) has a frame assembly (111) and a crawler assembly (112) connected to both sides of the frame assembly (111), and the swing mechanism (13) is provided on the frame assembly (111).
9. The hull surface attachment cleaning apparatus according to claim 1, characterized in that a gap is provided between the magnetic attraction unit (12) and the hull surface, and the gap is greater than or equal to 3cm and less than or equal to 10 cm.
10. The ship hull surface attachment cleaning device according to claim 1, characterized in that the magnetic unit (12) comprises a permanent magnet and/or an electromagnet, and the magnetic force between the magnetic unit (12) and the ship hull is 1.1 times or more and 1.25 times or less of the weight of the ship hull surface attachment cleaning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010431892.6A CN111422314A (en) | 2020-05-20 | 2020-05-20 | Hull surface attachment cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010431892.6A CN111422314A (en) | 2020-05-20 | 2020-05-20 | Hull surface attachment cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111422314A true CN111422314A (en) | 2020-07-17 |
Family
ID=71553034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010431892.6A Pending CN111422314A (en) | 2020-05-20 | 2020-05-20 | Hull surface attachment cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111422314A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112191632A (en) * | 2020-09-27 | 2021-01-08 | 安徽铜冠智能科技有限责任公司 | Intelligent cleaning device for mine storage bin |
| CN113173229A (en) * | 2021-05-07 | 2021-07-27 | 重庆锕维科技有限公司 | Underwater cleaning robot with collection function |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090113434A (en) * | 2008-04-28 | 2009-11-02 | 대우조선해양 주식회사 | An Inspection and Cleaning Apparatus of Underwater Moving Type |
| CN101948004A (en) * | 2010-09-22 | 2011-01-19 | 浙江海洋学院 | Underwater chained cleaning equipment for hull |
| KR20120007916U (en) * | 2011-05-11 | 2012-11-21 | 대우조선해양 주식회사 | Sweeping apparatus for preparation of ship |
| KR20130143228A (en) * | 2012-06-21 | 2013-12-31 | 에스티엑스조선해양 주식회사 | Ship cleaning robot undersea using memory mapping and its cleaning method |
| CN107226180A (en) * | 2017-05-18 | 2017-10-03 | 武汉理工大学 | The dirty bottom monitoring remove device of ship based on cavitation technique |
| CN110171549A (en) * | 2019-04-25 | 2019-08-27 | 山东鬼谷环保科技有限公司 | A kind of underwater cleaning robot device |
| CN110271654A (en) * | 2019-04-11 | 2019-09-24 | 邓冰冰 | A kind of hull bottom descaling machine |
| CN212220510U (en) * | 2020-05-20 | 2020-12-25 | 刘若江 | Hull surface attachment cleaning equipment |
-
2020
- 2020-05-20 CN CN202010431892.6A patent/CN111422314A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090113434A (en) * | 2008-04-28 | 2009-11-02 | 대우조선해양 주식회사 | An Inspection and Cleaning Apparatus of Underwater Moving Type |
| CN101948004A (en) * | 2010-09-22 | 2011-01-19 | 浙江海洋学院 | Underwater chained cleaning equipment for hull |
| KR20120007916U (en) * | 2011-05-11 | 2012-11-21 | 대우조선해양 주식회사 | Sweeping apparatus for preparation of ship |
| KR20130143228A (en) * | 2012-06-21 | 2013-12-31 | 에스티엑스조선해양 주식회사 | Ship cleaning robot undersea using memory mapping and its cleaning method |
| CN107226180A (en) * | 2017-05-18 | 2017-10-03 | 武汉理工大学 | The dirty bottom monitoring remove device of ship based on cavitation technique |
| CN110271654A (en) * | 2019-04-11 | 2019-09-24 | 邓冰冰 | A kind of hull bottom descaling machine |
| CN110171549A (en) * | 2019-04-25 | 2019-08-27 | 山东鬼谷环保科技有限公司 | A kind of underwater cleaning robot device |
| CN212220510U (en) * | 2020-05-20 | 2020-12-25 | 刘若江 | Hull surface attachment cleaning equipment |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112191632A (en) * | 2020-09-27 | 2021-01-08 | 安徽铜冠智能科技有限责任公司 | Intelligent cleaning device for mine storage bin |
| CN112191632B (en) * | 2020-09-27 | 2021-09-17 | 安徽铜冠智能科技有限责任公司 | Intelligent cleaning device for mine storage bin |
| CN113173229A (en) * | 2021-05-07 | 2021-07-27 | 重庆锕维科技有限公司 | Underwater cleaning robot with collection function |
| CN113173229B (en) * | 2021-05-07 | 2022-10-25 | 浙江启明海洋电力工程有限公司 | Underwater cleaning robot with collecting function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109715488B (en) | Ship body and cargo hold cleaning equipment | |
| KR101620459B1 (en) | ROV for Ships Using Radio Control | |
| US8635730B2 (en) | In situ sub marine net cleaning and inspecting device | |
| CN111252207B (en) | Ship bottom cleaning robot | |
| EP2743173A1 (en) | A submergible cleaning system | |
| CN111422314A (en) | Hull surface attachment cleaning equipment | |
| KR101625854B1 (en) | Underwater cleaning robot | |
| KR102321006B1 (en) | A system for cleaning ship hull surface | |
| KR101549378B1 (en) | Underwater cleaning robot | |
| CN212220510U (en) | Hull surface attachment cleaning equipment | |
| KR101540304B1 (en) | Underwater cleaning robot | |
| KR20150053466A (en) | Underwater cleaning robot | |
| EP4108563A1 (en) | Mobile robot | |
| DK179252B1 (en) | VESSEL CLEANING DEVICE | |
| CA2429972A1 (en) | System and method for towing a shellfish dredge | |
| KR20150059281A (en) | Underwater cleaning robot | |
| KR20150053476A (en) | Underwater cleaning robot | |
| KR101531497B1 (en) | Lunching and retrival apparatus of underwater cleaning robot | |
| CN210998722U (en) | Underwater cleaning robot system | |
| KR20150053460A (en) | Underwater cleaning robot | |
| CN212423409U (en) | Push type underwater ship bottom cleaning device | |
| CN219312993U (en) | Barnacle cleaning robot | |
| CN110861105A (en) | Screw clearance robot | |
| KR101556253B1 (en) | Underwater cleaning robot | |
| KR101625856B1 (en) | Launching apparatus for underwater cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |