CN112141289B

CN112141289B - Be used for clean full-automatic underwater robot of open posture of hull bottom attachment

Info

Publication number: CN112141289B
Application number: CN202010973657.1A
Authority: CN
Inventors: 昝英飞; 袁利毫; 丁天宝; 祝海涛
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2022-04-05
Anticipated expiration: 2040-09-16
Also published as: CN112141289A

Abstract

The invention provides a full-automatic open-frame underwater robot for cleaning ship bottom attachments, which comprises an above-water device and an underwater device, wherein the above-water device and the underwater device are connected with a hydraulic pipe through a zero buoyancy cable; the underwater cleaning device comprises a hydraulic device and a controller, the underwater cleaning device comprises a framework, a power device, a cleaning device, a control cabin and an auxiliary device, the effect that the cleaning part at the bottom of the device is attached to the bottom wall of a ship is realized by controlling any working posture of the device through the thrust distribution control of a plurality of propellers, the attachment at the bottom of the ship is cleaned by high-speed rotation of a bottom belly cleaning circular brush of the robot through hydraulic control, and the full-path cleaning of the bottom surface of the ship is realized under the control of the rotating speeds of a plurality of propeller groups and wheels. The invention does not need to drag the ship out of the water surface for cleaning, can realize uninterrupted cleaning at any parking place, and has good cleaning effect, high operation efficiency and obvious economic benefit.

Description

Be used for clean full-automatic underwater robot of open posture of hull bottom attachment

Technical Field

The invention relates to a full-automatic underwater robot, in particular to an open-frame full-automatic underwater robot for cleaning ship bottom attachments, and belongs to the technical field of ship bottom cleaning equipment.

Background

The ship is at long-term navigation in-process, and the hull bottom is difficult to avoid receiving various marine organisms to adsorb, and the extravagant fuel of navigation speed that can serious reduction boats and ships after a large amount of attachments adsorb, and the attachment can secrete a large amount of corrosive substance simultaneously and corrode the hull bottom, has very big influence to the navigation safety and the operating cost of whole boats and ships, consequently needs regularly to clean the hull bottom attachment, and present boats and ships especially super-huge boats and ships all need to drag the surface of water and get into the dock and adopt professional equipment clean. The existing cleaning mode is as follows: 1. the manual removal is matched with chemical agents, and the defects are that secondary pollution is easy to generate, the cleaning efficiency is low, and manpower and material resources are wasted. 2. The abrasive material prepared in advance is sprayed to the surface to be washed by utilizing compressed air, and the defects of violent action process, strong destructive capacity, difficulty in accurate control, heavy environmental pollution, high noise and potential harm to the health and working safety of operators are overcome. 3 high-pressure water jet cleaning is a technology that high-pressure water flows through a pipeline and a nozzle in sequence by using a high-pressure pump to form high-speed jet flow and continuously impact a washed surface to enable dirt to fall off. The disadvantage is that the cleaning effect on part of organisms such as rattan pots, shellfish and the like is not ideal. The three main cleaning modes are main methods used by modern docks, and have respective disadvantages, and ships need to be towed into docks to stop at great cost, long time and great economic loss.

Retrieving prior patent discovery patent application No. 201910572508.1 also provides an underwater cleaning robot that has the following disadvantages:

1. the counterforce of the water spraying gun and the counterforce of the water suction cavity can be offset, so that energy waste is generated;

2. the surface of the bottom of the ship is a huge irregular solid surface, and no inter-generation robot is designed to realize the spatial position movement;

3. the brush at the bottom of the device can slide due to the reaction force of the water spraying port of the water suction cavity, and the device cannot work normally;

4. the position of the high-pressure water gun is required to move to be in a linear state to achieve the cleaning effect, and once cleaning can be achieved after one straight line is finished, so that the efficiency is low;

5. the cleaned debris can flow into the high-pressure water gun again to cause injury to the water gun or the ship bottom;

for some organisms such as rattan pots, shellfish and the like, the cleaning effect on the organisms is not ideal;

disclosure of Invention

The invention aims to provide an open-frame type full-automatic underwater robot for cleaning ship bottom attachments, which aims to solve the problems of high cost, low efficiency, long time consumption, environmental pollution and the like of the existing ship bottom cleaning technology.

The purpose of the invention is realized as follows:

an open-frame type full-automatic underwater robot for cleaning ship bottom attachments comprises an above-water device and an underwater device, wherein the above-water device and the underwater device are connected through a zero buoyancy cable and a hydraulic pipe; the underwater device comprises a framework, a power device, a cleaning device, a control cabin and an auxiliary device; the framework comprises a left support plate, a right support plate, a front bottom web plate, a rear bottom web plate and an upper web plate, wherein the left support plate and the right support plate are connected with the front bottom web plate, the rear bottom web plate and the upper web plate; the cleaning device comprises an active cleaning device and a fixed cleaning device, wherein the active cleaning device comprises a front support, a rear support, a rotating shaft, a left support, a right support, a left rotating plate, a right rotating plate, a left floating material, a first hydraulic motor, a first cleaning round brush, a first thrust rotating support, a first linear motor, a right floating material, a second hydraulic motor, a second cleaning round brush, a second thrust rotating support and a second linear motor, the front support is arranged on a front bottom web plate, the rear support is arranged on a rear bottom web plate, the front support and the rear support are connected through the rotating shaft, the rotating shaft is connected with the left support and the right support, the left support is connected with the left rotating plate, the left floating material and the first hydraulic motor are arranged on the left rotating plate, a main shaft of the first hydraulic motor is connected with the first cleaning round brush, the first thrust rotating support is arranged on the left side of the left rotating plate, the first thrust rotating bracket is connected with a first linear motor, and the first linear motor is fixed on the left supporting plate; the right bracket is connected with the right rotating plate, a right buoyancy material and a second hydraulic motor are arranged on the right rotating plate, a main shaft of the second hydraulic motor is connected with a second cleaning circular brush, a second thrust rotating bracket is arranged on the right side of the right rotating plate, the second thrust rotating bracket is connected with a second linear motor, the second linear motor is fixed on the right supporting plate, and the left rotating plate and the right rotating plate rotate along the rotating shaft under the action of the second linear motor and the first linear motor and form an angle of +/-18 degrees in the horizontal direction of the maximum working angle; the fixed cleaning device comprises a third hydraulic motor and a third round cleaning brush, the third hydraulic motor is connected to the middle of the rear bottom web, and a main shaft of the third hydraulic motor is connected with the third round cleaning brush.

Furthermore, the power device comprises a first propeller, a second propeller, a third propeller, a fourth propeller, a fifth propeller, a sixth propeller, a seventh propeller and an eighth propeller which are arranged on a front bottom web plate, a right support plate, a left support plate and a rear bottom web plate, wherein a first speed reduction motor is arranged on the right side of the rear bottom web plate and connected with a first coupler, the right side of the first coupler is connected with a first wheel, the first wheel is connected with a first left support seat and a first right support seat, a second speed reduction motor is arranged on the left side of the rear bottom web plate and connected with a second coupler, the left side of the second coupler is connected with a second wheel, and the second wheel is connected with a second right support seat and a second left support seat.

Furthermore, the auxiliary device comprises a universal rotating wheel arranged at the front part, the upper part of the universal rotating wheel is connected to the upper web plate, and a first supporting wheel and a second supporting wheel are arranged on the rear bottom web plate.

Further, auxiliary device still includes before last web and set up the image transmission mechanism of the same specification respectively in the back, and this image transmission mechanism includes that the leg joint is close-range to make a video recording, wide-angle camera, first light, second light.

Further, the auxiliary device still includes the sonar of setting at the underwater installation top.

Further, the control bin is perpendicular to the rear bottom web plate, the control bin sequentially comprises a bottom flange, a bottom sealing ring, a wall cylinder, an upper sealing ring and an upper flange, a depth sensor, an exhaust valve and a plurality of threaded holes used for connecting a watertight plug-in are arranged on the upper flange, the inner side of a fixed support is connected with the control bin, and the outer side of the fixed support is connected with the upper web plate for fixing the control bin.

Furthermore, the bottom of the rear bottom web is connected with an anode hard aluminum oxide alloy lining plate.

Furthermore, the hydraulic device transmits brake fluid to the third hydraulic motor, the second hydraulic motor and the first hydraulic motor through the hydraulic pipe to drive the second round cleaning brush, the first round cleaning brush and the third round cleaning brush to rotate at a high speed to achieve the purpose of cleaning.

Compared with the prior art, the invention has the beneficial effects that:

1. the cleaning mode is as follows: through the rotation of three high-speed cleaning round brushes, through rotating brush angular transformation, can realize that the cleaning surface between the three brush can adapt to the characteristics that ship bottom surface geometry changed, can better reach clean effect, pollution-free.

2. Attitude control: the control of the cleaning path can be accurately realized through the control of the multiple propellers, the disturbance of the echo to the device can be corrected in time due to the waves and adjusted in time, and the cleaning path can be adjusted in time, so that the cleanness is ensured, and no surface omission exists.

3. Cleaning efficiency: the ship can be towed out of the water surface without docking, and is directly cleaned at a port or a docking place, so that the cleaning cost is low, the cleaning diameter can reach 1m by single walking, the cleaning area is large, the cleaning effect is good, and the cleaning efficiency is high.

4. The structure is advantageous: the open frame structure has the advantages of stable structure, small underwater resistance, high energy utilization, no relation to underwater shell sealing, low construction cost, and no residue inside the structure, and the clean attachment chips can directly float on the seabed.

5. The working depth is as follows: the whole device can normally work in the pressure change range of 0-38m underwater, and can meet the draught depth of any existing ship.

6. Automatic control: the device is automatic cleaning after starting after entering water, does not need personnel to intervene, and is highly automatic and highly intelligent.

Drawings

FIG. 1 is a view showing an overall structure of the apparatus;

FIG. 2 is a partial block diagram of the apparatus;

FIG. 3 is a bottom view of the apparatus;

FIG. 4 is a partial block diagram of the apparatus;

FIG. 5 is a view of the apparatus rotating to clean the brush;

FIG. 6 is a partial block diagram of the apparatus;

FIG. 7 image transmission mechanism diagram;

FIGS. 8a-b are block diagrams of a control pod;

FIG. 9 is a control flow diagram.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

An open-frame type full-automatic underwater robot for cleaning ship bottom attachments comprises an above-water device and an underwater device, which are connected through a zero-buoyancy cable 49 and a hydraulic pipe 48; the overwater device comprises a hydraulic device 46 and a controller 47, and the underwater device comprises a framework, a power device, a cleaning device, a control cabin and an auxiliary device; the effect that the cleaning part at the bottom of the device is tightly attached to the bottom wall of the ship is realized by controlling any working posture of the device through the thrust distribution of the multiple propellers, the attachment at the bottom of the ship is cleaned by high-speed rotation of the bottom belly cleaning circular brush of the robot through hydraulic control, and the full-path cleaning of the surface of the ship is realized by controlling the rotating speed of the multiple propellers and wheels. The framework is formed by connecting a left support plate 1 and a right support plate 9 with a front bottom web plate 41, a rear bottom web plate 38 and an upper web plate 2, wherein the upper web plate 2 is connected with an upper buoyancy material 3 through six bolt groups 5. The power device comprises a first propeller 11 and a second propeller 43 which are arranged on a front bottom web plate 41, a third propeller 20 and a fourth propeller 27 which are arranged on a rear bottom web plate 38, a fifth propeller 44 and a sixth propeller 21 which are arranged on a right support plate 9, and a seventh propeller 12 and an eighth propeller 16 which are arranged on a left support plate 1. A first speed reducing motor 50 connected with a first coupler 51 is arranged on the right side of a rear bottom web plate 38, the right side of the first coupler 51 is connected with a first wheel 23, the first wheel 23 is connected with a first left supporting seat 36 and a first right supporting seat 52 to fix the first wheel and the first left supporting seat on the rear bottom web plate 38, a second speed reducing motor 15 connected with a second coupler 13 is arranged on the left side of the bottom web plate 38, the left side of the second coupler 13 is connected with a second wheel 14, the second wheel 14 is connected with a second right supporting seat 34 and a second left supporting seat 55 to fix the second wheel and the second left supporting seat on the rear bottom web plate 38, and the power device of the device is formed by the mechanisms. The cleaning device comprises an active cleaning device 8 and a fixed cleaning device, wherein the active cleaning device 8 is characterized in that a front support 28 is arranged on a front bottom web plate 41, a rear support 56 is arranged on a rear bottom web plate 38, a rotating shaft 33 is connected between the front support 28 and the rear support 56, the rotating shaft 33 is connected with a left support 35 and a right support 32, the left support 35 is connected with a left rotating plate 57, a left buoyancy material 25 and a first hydraulic motor 42 are arranged on the left rotating plate 57, a main shaft of the first hydraulic motor 42 is connected with a first cleaning round brush 45, a first thrust rotating support 24 is arranged on the left side of the left rotating plate 57, the first thrust rotating support 24 is connected with a first linear motor 26, and the first linear motor 26 is fixed on the left support plate 1; the right bracket 32 is connected with a right rotating plate 61, a right floating material 58 and a second hydraulic motor 29 are arranged on the right rotating plate 61, the main shaft of the second hydraulic motor 29 is connected with a second cleaning round brush 31, a second thrust rotating bracket 30 is arranged on the right side of the right rotating plate 61, the second thrust rotating bracket 30 is connected with a second linear motor 62, the second linear motor 62 is fixed on the right supporting plate 9, and the left rotating plate 57 and the right rotating plate 61 can rotate along the rotating shaft 33 under the action of the second linear motor 62 and the first linear motor 26, and the maximum working angle horizontal direction is +/-18 degrees. The fixed cleaning device is characterized in that the middle of a rear bottom web plate 38 is connected with a third hydraulic motor 22, a main shaft of the third hydraulic motor 22 is connected with a third cleaning round brush 40, and the three cleaning round brushes are adapted to the characteristic of changing of the geometrical shape of the bottom surface of a ship by rotating the active cleaning brush to realize angle change, so that the cleaning effect can be better achieved. The auxiliary device comprises a universal rotating wheel 7 arranged at the front part, the upper part of the universal wheel 7 is connected with the upper web plate 2, a supporting wheel 37 and a supporting wheel 54 are arranged on the web plate 38 at the rear bottom of the device, and three auxiliary wheels are used for supporting the device. The auxiliary device also comprises image transmission mechanisms with the same specification which are respectively arranged in front of and behind a web plate on the device, wherein the image transmission mechanisms comprise a bracket 53 connected with a close-range camera 63, a wide-angle camera 60, light 59 and light 64. The control cabin 6 is vertical to the rear bottom web 38, the control cabin 6 comprises a bottom flange 65, a bottom sealing ring 66, a wall cylinder 67, an upper sealing ring 68 and an upper flange 69 in sequence, and the upper flange 69 is provided with a depth sensor 70, an exhaust valve 71 and a plurality of threaded holes 72 for connecting watertight plug-ins. The inner side of the fixed support 18 is connected with the control cabin 6, and the outer side of the fixed support 18 is connected with the upper web plate 2 and used for fixing the control cabin 6. An anodized hard aluminum oxide alloy liner plate 39 is attached to the bottom of the rear bottom web 38 for reinforcing the strength of the rear bottom web 38. The hydraulic device 46 transmits brake fluid to the hydraulic motor 22, the hydraulic motor 29 and the hydraulic motor 42 through the hydraulic pipe 48 to drive the cleaning circular brush 31, the cleaning circular brush 45 and the cleaning circular brush 40 to rotate at high speed to achieve the cleaning purpose. Auxiliary device still includes sonar 4 at the device top setting, and sonar 4 detects for device during operation surrounding environment, operational position etc..

The cleaning implementation mode provided by the invention is as follows:

after the device enters water, the propeller 44 and the propeller 21 rotate in the positive direction, the propeller 12 and the propeller 16 rotate in the reverse direction to rotate the device in the water by 90 degrees, keep the device suspended in the water and quickly change the pushing direction of the propeller 12 and the propeller 16 into positive pushing, so that the bottom of the robot of the device is quickly attached to the side wall of the bottom of the ship, the propeller 43, the propeller 11, the propeller 27 and the propeller 20 act through the underwater posture of the thrust distribution adjusting device under the signal feedback of the posture sensor in the control bin, the water surface hydraulic device 46 is started to drive the cleaning round brush 45, the cleaning round brush 40 and the cleaning round brush 31 to rotate at high speed through the hydraulic pipe 48, the speed reducing motor 15 and the speed reducing motor 50 are started to drive the wheels 14 and 23 to rotate and drive the device to move forwards, and the cleaning condition is monitored and compared in real time through the front camera assembly 10 and the rear camera assembly 19 in the advancing process, because the bottom surface of the ship is a shell with a certain irregular shape, the contour of the ship model is input into the control system in advance, the geometric shape change position information of the ship bottom surface is transmitted to the control bin through the sonar 5, the linear motor 26 is controlled by the control bin to drive the rotating bottom plate 57 and the linear motor 62 to drive the rotating bottom plate, so that the cleaning round brush 40, the cleaning round brush 31 and the cleaning round brush 45 can achieve a better cleaning effect through the adjustment of the space angle. The device completes one-time walking cleaning from the stem to the stem (or from the stem to the stem) along the same horizontal height of the side surface of the bottom of the ship. The apparatus is then lowered for a cleaning width distance under the

thrusters

11, 43, 27, 20 and the starting operational cleaning procedure is repeated until a complete cleaning of one surface of the bottom of the ship is reached.

In summary, the following steps: the invention discloses a full-automatic open-frame underwater robot for cleaning ship bottom attachments, which is characterized in that the device consists of an above-water device and an underwater device, and is connected with a hydraulic pipe through a zero-buoyancy cable; the water device comprises a hydraulic device and a controller, and the underwater device comprises a framework, a power device, a cleaning device, a control cabin and an auxiliary device. The effect that the cleaning part at the bottom of the device is tightly attached to the bottom wall of the ship is realized by controlling any working posture of the device through the thrust distribution of the multiple propellers, the attachment at the bottom of the ship is cleaned by the high-speed rotation of the bottom belly cleaning circular brush of the robot through hydraulic control, and the full-path cleaning of the surface of the bottom of the ship is realized under the control of the rotating speeds of the multiple propeller groups and wheels. The invention does not need to drag the ship out of the water surface for cleaning, can realize uninterrupted cleaning at any parking place, and has good cleaning effect, high operation efficiency and obvious economic benefit.

Claims

1. An open-frame type full-automatic underwater robot for cleaning ship bottom attachments is characterized by comprising an above-water device and an underwater device, wherein the above-water device and the underwater device are connected with a hydraulic pipe (48) through a zero buoyancy cable (49); the water device comprises a hydraulic device (46) and a controller (47), and the underwater device comprises a framework, a power device, a cleaning device, a control cabin and an auxiliary device; the framework comprises a left support plate (1), a right support plate (9), a front bottom web plate (41), a rear bottom web plate (38) and an upper web plate (2), wherein the front bottom web plate (41), the rear bottom web plate (38) and the upper web plate (2) are connected with the left support plate (1) and the right support plate (9); the cleaning device comprises an active cleaning device (8) and a fixed cleaning device, wherein the active cleaning device (8) comprises a front support (28), a rear support (56), a rotating shaft (33), a left support (35), a right support (32), a left rotating plate (57), a right rotating plate (61), a left floating material (25), a first hydraulic motor (42), a first cleaning circular brush (45), a first thrust rotating support (24), a first linear motor (26), a right floating material (58), a second hydraulic motor (29), a second cleaning circular brush (31), a second thrust rotating support (30) and a second linear motor (62), the front support (28) is arranged on a front bottom web (41), the rear support (56) is arranged on a rear bottom web (38), and the front support (28) and the rear support (56) are connected through the rotating shaft (33), the rotating shaft (33) is connected with the left support (35) and the right support (32), the left support (35) is connected with the left rotating plate (57), the left buoyancy material (25) and the first hydraulic motor (42) are arranged on the left rotating plate (57), the main shaft of the first hydraulic motor (42) is connected with the first cleaning round brush (45), the left side of the left rotating plate (57) is provided with the first thrust rotating support (24), the first thrust rotating support (24) is connected with the first linear motor (26), and the first linear motor (26) is fixed on the left support plate (1); the right bracket (32) is connected with the right rotating plate (61), a right buoyancy material (58) and a second hydraulic motor (29) are arranged on the right rotating plate (61), a main shaft of the second hydraulic motor (29) is connected with a second cleaning round brush (31), a second thrust rotating bracket (30) is arranged on the right side of the right rotating plate (61), the second thrust rotating bracket (30) is connected with a second linear motor (62), the second linear motor (62) is fixed on the right supporting plate (9), the left rotating plate (57) and the right rotating plate (61) rotate along the rotating shaft (33) under the action of the second linear motor (62) and the first linear motor (26), and the horizontal direction of the maximum working angle is +/-18 degrees; the fixed cleaning device comprises a third hydraulic motor (22) and a third round cleaning brush (40), the third hydraulic motor (22) is connected to the middle of the rear bottom web (38), and the main shaft of the third hydraulic motor (22) is connected with the third round cleaning brush (40).

2. The full-automatic open-frame underwater robot for cleaning ship bottom attachments according to claim 1, wherein the power device comprises a first propeller (11) and a second propeller (43) on a front bottom web (41), a third propeller (20) and a fourth propeller (27) arranged on a rear bottom web (38), a fifth propeller (44) and a sixth propeller (21) arranged on a right support plate (9), a seventh propeller (12) and an eighth propeller (16) arranged on a left support plate (1), a first speed reducing motor (50) connected with a first coupler (51) is arranged on the right side of the rear bottom web (38), a first wheel (23) connected with the right side of the first coupler (51), a first wheel (23) connected with the left support seat (36) and the right support seat (52), a second speed reducing motor (15) connected with a second coupler (13) is arranged on the left side of the rear bottom web (38), the left side of the second coupling (13) is connected with a second wheel (14), and the second wheel (14) is connected with a second right supporting seat (34) and a second left supporting seat (55).

3. The full automatic open rack underwater robot for ship bottom attachment cleaning according to claim 1, wherein the auxiliary device comprises a universal rotating wheel (7) arranged at the front part, the upper part of the universal rotating wheel (7) is connected to the upper web plate (2), and a first supporting wheel (37) and a second supporting wheel (54) are arranged on the rear bottom web plate (38).

4. The full-automatic open-frame underwater robot for cleaning ship bottom attachments according to claim 1, wherein the auxiliary device further comprises image transmission mechanisms with the same specification respectively arranged in front of and behind the upper web plate, and the image transmission mechanisms comprise brackets (53) connected with a close-range camera (63), a wide-angle camera (60), first light (59) and second light (64).

5. The full-automatic open-frame underwater robot for cleaning ship bottom attachments according to claim 1, characterized in that the auxiliary device further comprises a sonar (4) arranged at the top of the underwater device.

6. The full-automatic open-frame underwater robot for cleaning ship bottom attachments according to claim 1 is characterized in that the control bin (6) is perpendicular to a rear bottom web (38), the control bin (6) sequentially comprises a bottom flange (65), a bottom sealing ring (66), a wall cylinder (67), an upper sealing ring (68) and an upper flange (69), a depth sensor (70), an exhaust valve (71) and a plurality of threaded holes (72) for connecting watertight plug-ins are arranged on the upper flange (69), the inner side of the fixing support (18) is connected with the control bin (6), and the outer side of the fixing support (18) is connected with the upper web (2) for fixing the control bin (6).

7. The full-automatic open-frame underwater robot for cleaning ship bottom attachments according to claim 1, wherein an anode hard aluminum oxide alloy lining plate (39) is connected to the bottom of the rear bottom web plate (38).

8. The full-automatic open-frame underwater robot for cleaning ship bottom attachments according to claim 1, wherein the hydraulic device (46) transmits brake fluid to the third hydraulic motor (22), the second hydraulic motor (29) and the first hydraulic motor (42) through a hydraulic pipe (48) to drive the second cleaning circular brush (31), the first cleaning circular brush (45) and the third cleaning circular brush (40) to rotate at a high speed for cleaning.