CN112027015A - Adsorption type underwater cleaning robot - Google Patents
Adsorption type underwater cleaning robot Download PDFInfo
- Publication number
- CN112027015A CN112027015A CN202011003913.0A CN202011003913A CN112027015A CN 112027015 A CN112027015 A CN 112027015A CN 202011003913 A CN202011003913 A CN 202011003913A CN 112027015 A CN112027015 A CN 112027015A
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- China
- Prior art keywords
- robot
- chain wheel
- sprocket
- cavitation jet
- propeller
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- Pending
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- 238000004140 cleaning Methods 0.000 title claims abstract description 74
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 4
- 238000011086 high cleaning Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 239000013535 sea water Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles 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
- B62D57/024—Vehicles 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention relates to an adsorption type underwater cleaning robot, which adopts a cavitation jet cleaning mode, wherein a frame of the robot is provided with a propeller, a cavitation jet nozzle, a chain wheel support frame, a camera, a searchlight and a buoyancy material, the chain wheel support frame is provided with a stepping motor, a driving chain wheel, a driven chain wheel, a spring connecting seat, a chain and a track, and a permanent magnet arranged on the track generates magnetic force to be adsorbed on the surface of a ship. The novel beneficial effects of the invention are as follows: the ball joint is matched with the ball bearing, so that the crawler can swing up and down on the frame of the robot body, the stepping motor rotates to drive the crawler to move, and the robot body can move according to a specified route.
Description
Technical Field
The invention relates to the field of underwater ship cleaning, in particular to an adsorption type underwater cleaning robot.
Background
Ships, when operated in marine environments for extended periods of time, are subject to seawater corrosion and the attachment of marine organisms on the sea floor. The surface of the ship hull is often attached with marine organisms which are difficult to remove. After the condition occurs, the running speed of the ship is obviously reduced, the oil consumption is obviously increased, and the transportation cost of the ship is increased.
At present, the underwater cleaning robot in the domestic market is not mature yet, and the development space is large. The cleaning mode mostly adopts cleaning brush disk cleaning and cavitation jet cleaning. However, the cleaning brush disk cleaning method has some outstanding problems in cleaning, such as the cleaning of the curvature surface of the ship cannot be adapted, and the cleaning brush disk can generate large resistance when contacting the surface of the ship when the cleaning robot moves. With the development of the high-pressure water jet technology in the domestic market becoming mature, the field is also applied to underwater cleaning and has a better development space, but at present, a plurality of key technologies still need to be solved urgently. The underwater cleaning robot with high cleaning efficiency and short cleaning period is designed, ships can finish cleaning the surfaces of the ships on a coastal wharf or a near-water bank without going to the bank.
Disclosure of the invention
The invention relates to an adsorption type underwater cleaning robot, which is controlled by a stm32 singlechip, adopts a cavitation jet cleaning mode, has zero buoyancy in the whole structure design, adopts a crawler transmission mode and a permanent magnet to be adsorbed on the surface of a ship to realize the movement of the underwater robot on the surface of the ship, adopts a modular design in a control part to facilitate later-stage function expansion, has high cleaning efficiency, short cleaning time and low cleaning cost, can realize the cleaning of the surface of the ship with certain curvature, and can directly complete the cleaning operation on the sea or near the water bank without docking.
In order to solve the technical problems, the embodiment of the application provides an adsorption type underwater cleaning robot, which comprises a vertical propeller thruster, a watertight plug, a stepping motor fixing frame, a ball joint, a ball bearing, a control cabin, a robot frame, a spring, a cavitation jet rotating device, a crawler belt, a horizontal propeller thruster, a front searchlight, a cavitation jet nozzle, a rear searchlight, a spring connecting seat, a chain wheel supporting frame, a driving chain wheel, a driven chain wheel 1, a chain, a driven chain wheel 2, a front high-definition camera, a rear high-definition camera, a buoyancy material, a chain wheel shaft, a chain wheel bearing seat 1 and a chain wheel bearing seat 2, and is characterized in that a master control system adopts a stm32 single chip microcomputer, the whole structure is designed to be zero buoyancy, threaded holes are formed in the upper part and the periphery of a control cabin shell and used for installing the watertight plug, and the watertight cable are connected at, the other section of the watertight cable is connected to an upper computer, real-time control over the underwater cleaning robot can be achieved through an operating handle arranged on the upper computer, the ball joint is matched with a ball bearing, the track can be attached to the surface of a ship, the cavitation jet part comprises a cavitation jet nozzle, a cavitation jet rotating device and an onshore cavitation jet high-pressure machine, the cavitation jet high-pressure machine generates high-pressure water which is conveyed to the underwater cleaning robot through a high-pressure water pipe and is sprayed out by the cavitation jet nozzle, when the high-pressure water passes through the cavitation jet rotating device, the high-pressure water drives blades on the cavitation jet rotating shaft to rotate by the cavitation jet nozzle, the outer surface of the track is concave-convex, through holes are formed in the side end face of the track and used for installing a cylindrical permanent magnet block, and when the track moves, the permanent magnet also moves along with the, thereby realize that robot adsorbs on boats and ships surface, the medial surface and the chain of track are connected, and step motor rotates and drives the drive sprocket and rotate, and the sprocket drives the chain and removes, and the chain drives the track and removes.
As the preferred embodiment of the scheme, the whole structure is zero buoyancy, and the whole structure is realized by calculating the gravity center of the robot body through a computer and installing a lead block on a frame of the robot body at the later stage.
As a preferred embodiment of the scheme, the master control system adopts a stm32 single chip microcomputer, a chip of the stm32 single chip microcomputer is installed on an internal circuit board of the control cabin, a watertight plug is installed on a shell of the control cabin, and the watertight plug is connected with watertight cable plugs of a vertical propeller thruster, a horizontal propeller thruster, a front searchlight, a rear searchlight, a front high-definition camera and a rear high-definition camera, so that the control cabin can control all parts to work.
As a preferred embodiment of the present invention, the ball joint is matched with the ball bearing, the sprocket support frame is in threaded connection with the ball joint, so that the sprocket support frame can swing left and right around the ball bearing, one end of the tension spring is connected to the spring connection seat, and the other end of the tension spring is connected to the robot body frame.
As the preferred embodiment of the scheme, the integral structure of the horizontal propeller adopts an external splayed shape, the signal is sent to the upper computer through the operating handle, and the upper computer controls the lower computer, so that the functions of advancing, retreating, left turning, right turning, left turning in place, right turning in place, left translation and right translation of the underwater cleaning robot body can be realized.
According to the preferred embodiment of the scheme, the propeller, the searchlight and the camera shell are matched with the corresponding supporting seat, the supporting seat and the shell are fastened on the supporting seat through the throat hoop arranged on the surface of the supporting seat and the shell, and the supporting seat is connected and arranged on the robot body frame through nuts and screws.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the underwater cleaning robot has the advantages of high cleaning efficiency, short cleaning time and low cost, and ships can directly finish cleaning operation on the sea or in a berthing place without docking. The crawler transmission and suspension system and the permanent magnet adsorption are adopted, so that the underwater cleaning robot can be attached to the surface of the ship more conveniently, the cleaning robot has a larger contact area on the surface of the ship, a cleaning path can be effectively controlled, and no dead angle is left in the cleaning process. The whole design of cavitation jet flow cleaning nozzle is the S type, and it can be rotatory round cavitation jet flow cleaning shaft to change jet flow cleaning nozzle during the washing, and the washing area is great relatively, adopts the modularized design, and later stage expansion function space is great. The surface of the ship cannot be damaged in the cleaning process, and the surface of the ship with a certain curvature can be cleaned.
Drawings
In order to more clearly illustrate the novel embodiments or the technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the novel invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a top view of an embodiment of the present application.
Fig. 2 is a front view of an embodiment of the present application.
Fig. 3 is a bottom view of an embodiment of the present application.
Fig. 4 is a left side view of an embodiment of the present application.
Fig. 5 is an isometric view of an embodiment of the present application.
In the figures 1-5, 1 is a vertical propeller thruster, 2 is a watertight plug, 3 is a stepping motor, 4 is a stepping motor fixing frame, 5 is a ball joint, 6 is a ball bearing, 7 is a control cabin, 8 is a robot frame, 9 is a spring, 10 is a cavitation jet rotating device, 11 is a crawler belt, 12 is a horizontal propeller thruster, 13 is a front searchlight, 14 is a cavitation jet nozzle, 15 is a rear searchlight, 16 is a spring connecting seat, 17 is a chain wheel supporting frame, 18 is a driving chain wheel, 19 is a driven chain wheel 1, 20 is a chain, 21 is a driven chain wheel 2, 22 is a front high-definition camera, 23 is a rear high-definition camera, 24 is a buoyancy material, 25 is a chain wheel shaft, 26 is a chain wheel bearing seat 1, 27 is a chain wheel bearing seat 2.
Detailed Description
The invention provides an adsorption type underwater cleaning robot, which is controlled by a stm32 singlechip, adopts a cavitation jet cleaning mode, utilizes caterpillar transmission and a permanent magnet adsorption mode to realize that the cleaning robot works on the surface of a ship, adopts a modularized and zero-buoyancy design as a whole, has high cleaning efficiency, short cleaning time and low cleaning cost, and can directly complete cleaning operation on the sea or at a berth without docking the ship.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1 to 5, an adsorption type underwater cleaning robot comprises a vertical propeller thruster 1, a watertight plug 2, a stepping motor 3, a stepping motor fixing frame 4, a ball joint 5, a ball bearing 6, a control cabin 7, a robot frame 8, a spring 9, a cavitation jet rotating device 10, a crawler 11, a horizontal propeller thruster 12, a front searchlight 13, a cavitation jet nozzle 14, a rear searchlight 15, a spring connecting seat 16, a sprocket supporting frame 17, a driving sprocket 18, a driven sprocket 119, a chain 20, a driven sprocket 221, a front high-definition camera 22, a rear high-definition camera 23, a buoyancy material 24, a sprocket shaft 25, a sprocket bearing seat 126 and a sprocket bearing seat 227, wherein the ball bearing 6 is connected to the robot frame 8 through a bolt and a nut, the ball joint 5 is matched with the ball bearing 6 through a high pair, the other end of the ball joint 5 is connected to a threaded hole on the sprocket supporting frame 17 through a threaded shaft, install spring coupling seat 16 on sprocket support frame 17 on robot frame 8 through spring coupling, install step motor mount 4 on sprocket support frame 17, sprocket bearing frame 26, install perpendicular screw propeller 1 on robot frame 8, horizontal screw propeller 2, and leading searchlight 13, rearmounted searchlight 15, leading high definition digtal camera 22, rearmounted high definition digtal camera 23's fixing base, cavitation jet rotary device 10 lower extreme threaded hole, connect on robot frame 8 lower surface through hexagon socket head cap screw.
In practical application, the underwater cleaning robot needs to be lifted from a mother ship to a small boat before operation, the small boat is conveyed to the position near a ship to be cleaned, a watertight cable and a high-pressure water conveying pipe need to be connected to the robot before lifting, whether a cable connected with a robot control cabin 7 is in a problem or not is checked, if the cable is in the problem, the robot starts to work by electrifying, climbs and adsorbs to the surface of the ship to be cleaned through a conveying device on the small boat, then a cavitation jet high-pressure machine on the mother ship extracts seawater to pressurize, then the seawater is conveyed to the underwater cleaning robot through a high-pressure water pipe and is sprayed out through a cavitation jet nozzle 14, the aim of cleaning is achieved by utilizing impact force generated when the cavitation bubbles collapse, and the robot finishes cleaning of the surface of the ship according to a set arch-shaped route.
In practical application, the permanent magnet blocks are installed on the crawler belt 11, the robot is adsorbed on the surface of a ship through magnetic force generated by the robot, when the underwater cleaning robot is used for cleaning the surface of the ship actually, the magnetic force generated by the permanent magnet is not enough to be adsorbed on the surface of the ship, and 4 vertical propellers 1 installed on the robot frame 8 and vertical to each other can provide thrust, so that the underwater cleaning robot is attached to the surface of the ship.
Wherein, in practical application, sprocket support frame 17 on install step motor mount 4, fix step motor 3 on sprocket support frame 17 through step motor mount 4, step motor 2 rotates, drives track 11 and removes, its theory of operation is: when the two stepping motors 3 rotate forwards simultaneously, the underwater cleaning robot moves forwards; when the two stepping motors 3 rotate reversely at the same time, the underwater cleaning robot retreats; when one stepping motor 3 rotates forwards and the other stepping motor 3 rotates backwards, the underwater cleaning robot turns on the surface of the ship.
Wherein, in practical application, cleaning robot frame 8 on install leading high definition digtal camera 22, rearmounted high definition digtal camera 23, can monitor the boats and ships surface of scrubbing often to with data transmission to the host computer, operating personnel makes the judgement through observing to the host computer, controls the control cabin 7 of installing on cleaning robot frame 8 under water through the operating handle who installs at the host computer, accomplishes the control to cleaning robot.
Although the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the details of the foregoing description, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. An adsorption type underwater cleaning robot comprises a vertical propeller thruster (1), a watertight plug (2), a stepping motor (3), a stepping motor fixing frame (4), a ball joint (5), a ball bearing (6), a control cabin (7), a robot frame (8), a spring (9), a cavitation jet rotating device (10), a crawler (11), a horizontal propeller thruster (12), a front searchlight (13), a cavitation jet nozzle (14), a rear searchlight (15), a spring connecting seat (16), a chain wheel supporting frame (17), a driving chain wheel (18), a driven chain wheel (1) (19), a chain (20), a driven chain wheel (2) (21), a front high-definition camera (22), a rear high-definition camera (23), a buoyancy material (24), a chain wheel shaft (25), a chain wheel bearing seat (1) (26), a chain wheel bearing seat (2) (27), the underwater cleaning robot is characterized in that a cavitation jet cleaning mode is adopted, modularization and zero buoyancy are adopted, a front high-definition camera (22) and a rear high-definition camera (23) have 2 degrees of freedom, the front high-definition camera (22) and the rear high-definition camera (23) are matched with a front searchlight (13) and a rear searchlight (15) to observe the adhesion condition of marine organisms on the surface of a ship and the surface condition of the ship after cleaning, a stepping motor (3) is controlled to rotate to drive a crawler belt (11) to move, and a vertical propeller (1) and a horizontal propeller (12) are controlled to realize up-and-down floating forward, left-backward-forward, right-backward-forward and right-backward rotation of an underwater cleaning.
2. The robot cleaner of claim 1, wherein the cleaning mode is cavitation jet cleaning, the cavitation device is composed of a cavitation jet nozzle (14), a cavitation jet rotating device (10) and an onshore cavitation jet high-pressure machine, the cavitation jet high-pressure machine generates high-pressure water, the high-pressure water is conveyed to the robot cleaner by a high-pressure water pipe, and cavitation bubbles are generated by the cavitation jet nozzle (14) to be ejected.
3. The robot of claim 1, wherein the modular design comprises a master control module, a searchlight module, a camera module, a propeller motor drive module, a stepper motor drive module, and a suspension module.
4. The adsorption type underwater cleaning robot as claimed in claim 1, wherein the outer surface of the crawler belt (11) is concave-convex, the side end surface of the crawler belt (11) is provided with a hole for installing a cylindrical permanent magnet, the inner side of the crawler belt (11) is connected with the chain (20), and the cleaning robot is adsorbed on the surface of the ship due to the adsorption force generated by the permanent magnet during the driving process.
5. An adsorption type underwater cleaning robot as claimed in claim 1, wherein the suspension system comprises a chain wheel support frame (17), a threaded hole is formed in one side of the chain wheel support frame (17), the threaded end of the ball joint (5) is matched with the threaded hole, the ball bearing (6) is matched with the ball joint (5), the ball bearing (6) is fixed on the robot frame (8) through a hexagonal bolt chain, the chain wheel support frame (17) is provided with 2 symmetrical threaded holes in the upper portion and the lower portion respectively, a spring connecting seat (16) is installed in the threaded hole, one end of the spring is fixed in a round hole of the spring connecting seat (16), and the other end of the spring is fixed on the robot frame (8).
6. The suction type underwater cleaning robot as claimed in claim 1, wherein the driving sprocket (18), the driven sprocket 1(19), the driven sprocket 2(21) are fixed on one side of the threaded end of the sprocket shaft (25) through nuts, the other side of the sprocket shaft (25) is installed on a sprocket bearing seat (26) in a matching manner with a bearing, the sprocket bearing seat 1(26) and the sprocket bearing seat 2(27) are fixed on the sprocket support frame (17) through screws, the stepping motor (3) drives the driving sprocket (18) to rotate, and the driving sprocket (18) drives the track chain (20) to move, so that the track (11) moves.
7. An underwater cleaning machine as claimed in claim 1, characterized in that the middle parts of the housings of the vertical propeller (1) and the horizontal propeller (12) are designed as grooves which are matched with the semi-circular curved surface of the propeller support base, the propeller is fixed on the propeller support base through a throat hoop, and the propeller support base is fixed on the robot frame (8) through mounting hexagon socket head cap screws and nuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011003913.0A CN112027015A (en) | 2020-09-22 | 2020-09-22 | Adsorption type underwater cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011003913.0A CN112027015A (en) | 2020-09-22 | 2020-09-22 | Adsorption type underwater cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112027015A true CN112027015A (en) | 2020-12-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011003913.0A Pending CN112027015A (en) | 2020-09-22 | 2020-09-22 | Adsorption type underwater cleaning robot |
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| CN (1) | CN112027015A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660321A (en) * | 2020-12-10 | 2021-04-16 | 江苏科技大学 | Underwater cleaning device for marine equipment |
| CN112743192A (en) * | 2021-03-05 | 2021-05-04 | 广东海洋大学 | Air chamber type local dry method underwater welding robot |
| CN113277029A (en) * | 2021-05-18 | 2021-08-20 | 江苏大学 | Device and method for cleaning marine ship deck through supercharged cavitation |
| CN113291429A (en) * | 2021-05-15 | 2021-08-24 | 飞马滨(青岛)智能科技有限公司 | Cavitation adsorption device |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
| CN114952879A (en) * | 2022-05-09 | 2022-08-30 | 南通大学 | Ship cleaning robot with curvature radius adjustment function |
| CN115503898A (en) * | 2022-08-16 | 2022-12-23 | 飞马滨(青岛)智能科技有限公司 | Self-adaptive fitting method for underwater cleaning robot and ship to be cleaned |
| CN116573115A (en) * | 2023-04-24 | 2023-08-11 | 北京琨毅科技有限公司 | Underwater cleaning robot for ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112660321A (en) * | 2020-12-10 | 2021-04-16 | 江苏科技大学 | Underwater cleaning device for marine equipment |
| CN112743192A (en) * | 2021-03-05 | 2021-05-04 | 广东海洋大学 | Air chamber type local dry method underwater welding robot |
| CN112743192B (en) * | 2021-03-05 | 2024-04-26 | 广东海洋大学 | Air chamber type local dry method underwater welding robot |
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| CN113277029A (en) * | 2021-05-18 | 2021-08-20 | 江苏大学 | Device and method for cleaning marine ship deck through supercharged cavitation |
| CN113277029B (en) * | 2021-05-18 | 2022-08-23 | 江苏大学 | Device and method for cleaning marine ship deck through supercharged cavitation |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
| CN114954717A (en) * | 2022-04-15 | 2022-08-30 | 江苏科技大学 | Marine ultrahigh-pressure water cleaning wheel type wall-climbing robot |
| CN114952879A (en) * | 2022-05-09 | 2022-08-30 | 南通大学 | Ship cleaning robot with curvature radius adjustment function |
| CN114952879B (en) * | 2022-05-09 | 2023-10-31 | 南通大学 | Ship cleaning robot with curvature radius adjustment function |
| CN115503898A (en) * | 2022-08-16 | 2022-12-23 | 飞马滨(青岛)智能科技有限公司 | Self-adaptive fitting method for underwater cleaning robot and ship to be cleaned |
| CN116573115A (en) * | 2023-04-24 | 2023-08-11 | 北京琨毅科技有限公司 | Underwater cleaning robot for ship |
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