CN112623140A - Underwater cleaning system and method for ship - Google Patents
Underwater cleaning system and method for ship Download PDFInfo
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- CN112623140A CN112623140A CN202011233758.1A CN202011233758A CN112623140A CN 112623140 A CN112623140 A CN 112623140A CN 202011233758 A CN202011233758 A CN 202011233758A CN 112623140 A CN112623140 A CN 112623140A
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- pipe
- underwater cleaning
- garbage
- cavitation
- ship
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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
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D36/00—Filter circuits or combinations of filters with other separating devices
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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
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention provides an underwater cleaning system and method for a ship. The underwater cleaning system for the ship comprises a water surface control square cabin and an underwater cleaning robot, wherein the water surface control square cabin is divided into a power area and a working area; the power area is provided with a generator set and a high-pressure pump; the working area is provided with a water surface recovery assembly, a main control cabinet, an industrial personal computer, a pipe cable winding and unwinding device and a robot winding and unwinding device; the generator set is used for providing power for the ship underwater cleaning system; the constant voltage power supply in the main control cabinet is used for providing power for the underwater cleaning robot, and the industrial personal computer is used for controlling the underwater cleaning robot to work; the underwater cleaning robot comprises a cavitation cleaning device with a garbage enclosing function; the water outlet of the high-pressure pump is connected with the water inlet of the cavitation cleaning device, and the sewage outlet of the cavitation cleaning device is connected with the water surface recovery assembly.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an underwater cleaning system for a ship.
Background
When a ship sails in the ocean for a long time, a large amount of strong attachments such as shellfish, seaweed, rusty spots and the like can be attached to the surface of the outer shell of the ship, the sailing speed of the ship is seriously influenced, and the oil consumption is increased, so that the operation cost of the ship is increased, and the service life of the ship is shortened. In order to improve the navigation performance of the ship, reduce the operation cost, prolong the service life of the ship and ensure the safe operation of the ship, the ship must be cleaned regularly.
At present, the method for cleaning the attachments of the ship body is that a diver works in water or manually cleans in a dock. However, the docking cost of the ship is high, the sand blasting operation pollutes the environment and harms the safety and health of operators, and in addition, the operation period in the dock is long, so that the non-operation time of the ship is increased; the underwater manual cleaning can be operated when ships are in harbor or anchored, so that docking delay and docking cost are avoided, but the underwater manual operation has high labor intensity, low efficiency, poor safety and higher cost.
Disclosure of Invention
The invention provides a ship underwater cleaning system and method, which can utilize an underwater cleaning robot to replace manpower to clean a ship, save cleaning cost and have high safety; and the pollution to seawater caused by the garbage falling into the water during cleaning is also avoided.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
the underwater cleaning system comprises a water surface control shelter and an underwater cleaning robot, wherein the water surface control shelter is divided into a power area and a working area; the power area is provided with a generator set and a high-pressure pump; the working area is provided with a water surface recovery assembly, a main control cabinet, an industrial personal computer and a pipe cable reeling and unreeling device; the generator set is used for providing power for the ship underwater cleaning system; the device comprises a main control cabinet, an industrial personal computer, a pipe cable winding and unwinding device and a photoelectric liquid combined umbilical cable, wherein a voltage-stabilized power supply in the main control cabinet is used for providing power for the underwater cleaning robot, the industrial personal computer is used for controlling the underwater cleaning robot to work, and the pipe cable winding and unwinding device is used for winding and unwinding the photoelectric liquid combined umbilical cable; the underwater cleaning robot comprises a cavitation cleaning device with a garbage enclosing function; the water outlet of the high-pressure pump is connected with the water inlet of the cavitation cleaning device, the sewage outlet of the cavitation cleaning device is connected with the water surface recovery assembly, and the water outlet of the water surface recovery assembly filter is connected with the water inlet of the high-pressure pump.
Optionally, the underwater cleaning robot further comprises a main frame, a crawler traveling mechanism, at least one vertical thruster, at least one horizontal thruster, at least one distance measuring sensor, a depth and height integrated sensor, an electronic cabin, and a buoyancy module; the crawler traveling mechanisms are arranged on two opposite sides of the main frame, the vertical thruster, the horizontal thruster and the depth and height sensor are arranged above the main frame, the distance measuring sensor is arranged at the front end of the main frame, the electronic cabin is arranged on the central axis of the main frame, and the buoyancy modules are arranged on two opposite sides of the electronic cabin; the cavitation cleaning device is arranged below the main frame.
Optionally, the cavitation cleaning device comprises a rotary spray pipe frame, a cavitation nozzle, a hollow pipe, a rotary joint, a surrounding cover, a spring, a sewage discharge pipe joint, a fixing frame and a filter screen; the hollow pipe is fixedly connected with the fixing frame, and the fixing frame is arranged below the main frame; the rotary spray pipe frame is arranged at the lower end part of the hollow pipe through a bearing, and the cavitation nozzle is arranged at a water outlet at the tail end of the rotary spray pipe frame; the rotary joint is arranged at the upper port of the hollow pipe and is connected with the high-pressure pump through a high-pressure pipe; the enclosing cover is arranged around the rotary spray pipe rack and the cavitation nozzle, the side surface of the enclosing cover is gradually inclined inwards along the direction from top to bottom, and the upper surface of the enclosing cover is connected with the fixed frame through a spring; the upper part of the side surface of the enclosing cover is provided with a water inlet, and the upper surface of the enclosing cover is provided with a sewage outlet; the water inlet of the enclosing cover is provided with the filter screen, the sewage outlet of the enclosing cover is provided with the sewage discharge pipe joint, and the sewage discharge pipe joint is connected with the water surface recovery assembly through a sewage discharge pipe.
Optionally, the water surface garbage recycling assembly comprises a self-absorption sewage pump, a first filtering device, a second filtering device, a three-way ball valve, a filter water inlet pipe, a filter water outlet pipe, a self-absorption sewage pump water inlet, a self-absorption sewage pump water outlet pipe and a filter water outlet; one end of the self-suction sewage pump is connected with the water inlet of the self-suction sewage pump, and the other end of the self-suction sewage pump is respectively connected with the inlet of the first filtering device and the inlet of the second filtering device through the filter water inlet pipe, the three-way ball valve and the self-suction sewage pump water outlet pipe; the outlet of the first filtering device and the outlet of the second filtering device are connected with the water outlet of the filter through the water outlet pipe of the filter and the three-way ball valve; the water inlet of the self-suction sewage pump is connected with the cavitation cleaning device through a sewage discharge pipe.
Optionally, the first filtering device and the second filtering device both include a coarse filtering cavity, a coarse filtering net, a filtering net fixing strip, a communicating pipe, a pipeline pump, a one-way valve, a sealing cover, a fine filtering cavity, a fine filtering net, a sealing strip, a pressure gauge seat and a pressure gauge; the coarse filter screen is arranged in the coarse filter cavity, and the fine filter screen is arranged in the fine filter cavity; the communicating pipe is arranged between the coarse filter cavity and the fine filter cavity, the pipeline pump and the one-way valve are arranged in the communicating pipe, the pressure gauge seat is installed on the sealing cover, the pressure gauge is installed on the pressure gauge seat, and the sealing cover and the fine filter cavity are sealed through the sealing strip.
Optionally, the working area is further provided with a robot cloth recycling device.
Optionally, a sound-absorbing plate is arranged between the power area and the working area.
The invention also relates to an underwater cleaning method for the ship, which is carried out as follows:
the underwater cleaning system for the ship comprises a water surface control shelter and an underwater cleaning robot; when a ship is cleaned, the ship is cleaned by using a cavitation cleaning device of an underwater cleaning robot, garbage generated in the cleaning process is confined in an enclosing cover of the cavitation cleaning device, and is recovered and filtered in real time through a water surface recovery component, and meanwhile, filtered clean water is supplied to a high-pressure pump;
the cavitation cleaning device comprises a rotary spray pipe frame, a cavitation nozzle, a hollow pipe, a rotary joint, a surrounding cover, a spring, a sewage discharge pipe joint, a fixing frame and a filter screen;
the hollow pipe is fixedly connected with the fixing frame, and the fixing frame is arranged below the main frame; the rotary spray pipe frame is arranged at the lower end part of the hollow pipe through a bearing, and the cavitation nozzle is arranged at a water outlet at the tail end of the rotary spray pipe frame; the rotary joint is arranged at the upper port of the hollow pipe and is connected with the high-pressure pump through a high-pressure pipe; the enclosing cover is arranged around the rotary spray pipe rack and the cavitation nozzle, the side surface of the enclosing cover is gradually inclined inwards along the direction from top to bottom, and the upper surface of the enclosing cover is connected with the fixed frame through a spring; the upper part of the side surface of the enclosing cover is provided with a water inlet, the upper surface of the enclosing cover is provided with a sewage outlet, the water inlet of the enclosing cover is provided with a filter screen, the sewage outlet of the enclosing cover is provided with a sewage discharge pipe joint, and the sewage discharge pipe joint is connected with the water surface recovery assembly through a sewage discharge pipe;
the cavitation nozzle can generate reaction force after spraying high-pressure water, the reaction force drives the rotary spray pipe frame to rotate around the hollow pipe, and negative pressure is formed on the wall surface close to the ship body in the enclosing cover; the negative pressure can make the enclosing cover always cling to the wall of the ship, and the cleaned garbage is limited in the enclosing cover;
the water inlet holes on the enclosure cover ensure that seawater can freely enter and exit the enclosure cover, and the filter screen is arranged at the water inlet holes of the enclosure cover to limit garbage from flowing out of the enclosure cover;
the side surface of the enclosing cover can gradually incline inwards along the direction from top to bottom, and when the enclosing cover encounters an obstacle in the advancing process, the side surface of the enclosing cover is stressed to enable the enclosing cover to be lifted upwards; in the process of lifting the enclosure upwards, the spring is extruded, so that the enclosure can be effectively prevented from being blocked by a barrier; the fixing frame cannot be extruded in the process that the enclosure cover is lifted upwards;
when the ship is cleaned, garbage cleaned by the cavitation cleaning device enters the self-suction sewage pump through the sewage discharge pipe and the water inlet of the self-suction sewage pump, and enters the first filtering device and the second filtering device in a time-sharing manner through the self-suction sewage pump;
the coarse filter screen of the first filter device is quickly filled with garbage, the waterway and the garbage are switched to the second filter device through the three-way ball valve, meanwhile, the coarse filter screen of the first filter device filled with the garbage is lifted out for cleaning, and the coarse filter screen is installed in the coarse filter cavity again after being cleaned;
after the coarse filter screen of the second filter device is filled with garbage, the waterway and the garbage are switched to the first filter device through the three-way ball valve, meanwhile, the coarse filter screen of the second filter device filled with the garbage is lifted out for cleaning, and is installed in the coarse filter cavity again after being cleaned, and the process is repeated;
along with the increase of the cleaning time, more garbage is gradually accumulated in the fine filter screen, so that the pressure of the fine filter chamber is increased, and when the numerical value of the pressure gauge reaches a set value, the waterway is switched and the garbage is cleaned or the fine filter screen is replaced according to the same operation of the coarse filter screen;
wherein 90% of garbage is filtered by the coarse filter screen, and then the garbage is filtered by the fine filter screen, so that clean water can be discharged and supplied to the high-pressure pump, and the high-pressure pump performs cleaning operation by using the clean water discharged from the first filter device and the second filter device;
when the underwater cleaning robot is ready to be cleaned or after cleaning is finished, the robot distributing and recovering device completes distributing and recovering of the underwater cleaning robot, and the robot fixing device fixes the underwater cleaning robot in the water surface control cabin.
Further, it is characterized in that,
the underwater cleaning robot comprises a main frame, a crawler walking mechanism, at least one vertical propeller, at least one horizontal propeller, at least one distance measuring sensor, a depth and height integrated sensor, an electronic cabin and a buoyancy module;
the crawler traveling mechanisms are arranged on two opposite sides of the main frame, the vertical propeller, the horizontal propeller and the depth and height sensor are arranged above the main frame, the distance measuring sensor is arranged at the front end of the main frame, the electronic cabin is arranged on the central axis of the main frame, and the buoyancy modules are arranged on two opposite sides of the electronic cabin; the cavitation cleaning device is arranged below the main frame;
the underwater cleaning robot is adsorbed on the ship by means of the thrust of the vertical propeller and runs along the wall through the crawler belt running mechanism;
the distance measuring sensor provides distance information in front of the underwater cleaning robot for the underwater cleaning robot; the depth and height integrated sensor provides depth and distance information from the bottom of the ship for the underwater cleaning robot;
the electronic cabin is used as a center of the underwater cleaning robot, the distance measuring sensor, the depth and height integrated sensor and other components provide power transfer, and meanwhile, the electronic cabin receives instructions sent by the industrial personal computer and feeds back execution information.
The embodiment of the application provides a ship underwater cleaning system, which comprises a water surface control shelter and an underwater cleaning robot. When boats and ships need to be cleaned, the boats and ships can be cleaned by the cavitation cleaning device of the underwater cleaning robot, garbage generated in the cleaning process is confined in the enclosing cover of the cavitation cleaning device, and is recovered and filtered in real time through the water surface recovery assembly, and meanwhile, filtered clean water is supplied to the high-pressure pump.
On one hand, the underwater cleaning robot can be used for replacing manpower to clean the ship, so that the cleaning cost is saved, the efficiency is high, and the safety is good; on the other hand, because manual cleaning is not needed, the normal operation of the ship is not influenced in the process of cleaning the ship; on the other hand, in the cleaning process, the cleaned garbage can be restrained in the cavitation cleaning device, and the water surface recovery assembly is used for recovering and filtering in real time, so that the garbage is prevented from falling into the water during cleaning and polluting the seawater.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an underwater cleaning system for a ship provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a cavitation cleaning apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an underwater cleaning robot provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an underwater cleaning robot provided in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a cavitation cleaning device according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a cavitation cleaning device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a water surface recovery assembly according to an embodiment of the present disclosure;
fig. 8 is a schematic front view of a water surface recovery assembly according to an embodiment of the present application.
Reference numerals:
1-controlling a square cabin on the water surface; 2-underwater cleaning robot; 3-a power zone; 4-a working area; 5-a sound-absorbing panel; 6-a generator set; 7-a high pressure pump; 8-a water surface recovery assembly; 9-a cable reeling and unreeling device; 10-a master control cabinet; 11-an industrial personal computer; 12-robot cloth recycling device; 13-a robot fixation device; 14-high pressure pipes; 16-a photovoltaic combination cable; 18-a sewage draining pipe; 19-high pressure pump inlet pipe; 22-a photovoltaic-hydraulic integral cable; 201-a main frame; 202-crawler running gear; 203-vertical thruster; 204-horizontal thruster; 205-a ranging sensor; 206-depth and height integral sensors; 207-an electronic compartment; 208-a buoyancy module; 209-warning light; 210-a cover plate; 211-a hanger; 212-an underwater camera; 213-a cavitation cleaning device with a garbage enclosing function; 2121-rotating the spray pipe rack; 2122-cavitation nozzle; 2123-hollow tube; 2124-rotary joint; 2125-closing cover; 2126-spring; 2127-sewage draining pipe joint; 2128-fixing frame; 2129-filtering net; 21210-outlet of sewage pipe; 801-self-priming sewage pump; 802-filtration device 1; 803-filtering device 2; 804-three-way ball valve; 805-filter inlet pipe; 806-filter outlet pipe; 807-self-priming sewage pump water inlet; 808-self-suction dredge pump water outlet pipe; 809-filter outlet; 8021-coarse filtration chamber; 8022-coarse filtering net; 8023-filter screen fixing strip; 8024-a communicating pipe; 8025-a pipeline pump; 8026-a one-way valve; 8027-sealing cover; 8028-fine filtration chamber; 8029-fine filter screen; 80210-sealing strip; 80211-pressure gauge stand; 80212-pressure gauge; 80213 — screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless otherwise defined, technical or scientific terms used in the embodiments of the present application should have the ordinary meaning as understood by those having ordinary skill in the art to which the present invention belongs. The use of "first," "second," and similar language in the embodiments of the present invention does not denote any order, quantity, or importance, but rather the terms "first," "second," and similar language are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. "upper," "lower," "left," "right," "horizontal," and "vertical" are used merely for relative terms as to the orientation of the elements in the drawings, and these directional terms are relative terms, which are used for descriptive and clarity relative to the elements and which can vary accordingly depending on the orientation in which the elements in the drawings are placed.
The embodiment of the application provides a ship underwater cleaning system, as shown in fig. 1, the ship underwater cleaning system comprises a water surface control cabin 1 and an underwater cleaning robot 2, wherein the water surface control cabin 1 is divided into a power area 3 and a working area 4. The power area 3 is provided with a generator set 6 and a high-pressure pump 7; the working area 4 is provided with a water surface recovery assembly 8, a main control cabinet 10, an industrial personal computer 11 and a pipe cable reeling and unreeling device 9; the generator set 6 is used for providing power for the ship underwater cleaning system; a stabilized voltage power supply in the main control cabinet 10 is used for providing power for the underwater cleaning robot 2, an industrial personal computer 11 is used for controlling the underwater cleaning robot 2 to work, and a pipe cable reeling and unreeling device 9 is used for reeling and unreeling a photoelectric liquid combined umbilical cable; the underwater cleaning robot 2 includes a cavitation cleaning device 213 having a garbage enclosing function; the water outlet of the high-pressure pump 7 is connected with the water inlet of the cavitation cleaning device 213, the sewage outlet of the cavitation cleaning device 213 is connected with the water surface recovery component 8, and the water outlet of the filter of the water surface recovery component 8 is connected with the water inlet of the high-pressure pump 7.
In some embodiments, the genset 6 may provide power to the marine underwater cleaning system to power the entire marine underwater cleaning system. Because the generator set 6 is arranged in the power area 3 of the water surface control shelter 1, an external power supply interface is reserved in the power area 3 of the water surface control shelter 1.
In some embodiments, the generator set 6 may provide power to a master control cabinet 10 of the work area, converted to a regulated power supply via the master control cabinet 10, for powering the underwater cleaning robot 2. Wherein, the underwater cleaning robot 2 can establish communication with the main control cabinet 10 through an optical fiber.
In some embodiments, when the ship needs to be cleaned, the industrial personal computer 11 may control the underwater cleaning robot 2 to work; when the ship does not need to be cleaned, the industrial personal computer 11 can control the underwater cleaning robot 2 to not work.
As shown in fig. 2, the underwater cleaning robot 2 includes a cavitation cleaning device 213 with a garbage enclosing function, and can clean the ship by using the cavitation cleaning device 213, and in the cleaning process, the high pressure pump 7 can provide high pressure water for the cavitation cleaning device 213. On this basis, as shown in fig. 1, the cavitation cleaning device 213 can also be connected with the water surface recovery component 8 through the blow-off pipe 18, the cleaned garbage is enclosed in the cavitation cleaning device 213, the water surface recovery component 8 recovers and filters the cleaned sewage in real time, and the garbage is prevented from falling into the water during cleaning to pollute the seawater.
In some embodiments, the surface control shelter 1 can be carried by a truck or a mother ship, and can also be independently placed on a deck of a wharf, a mother ship or a cleaned ship for working, so that the use is convenient and flexible.
In some embodiments, a sound-absorbing panel 5 is also provided between the power zone 3 and the working zone 4.
In some embodiments, the cavitation cleaning device 213 may be disposed in a central location below the main frame 201.
The embodiment of the application provides a ship underwater cleaning system, which comprises a water surface control shelter 1 and an underwater cleaning robot 2. When boats and ships need to be cleaned, the cavitation cleaning device 213 of the underwater cleaning robot 2 can be used for cleaning the boats and ships, garbage generated in the cleaning process can be restrained in the enclosing cover of the cavitation cleaning device 213, and is recovered and filtered in real time through the water surface recovery component, and meanwhile, filtered clean water is supplied to the high-pressure pump. On one hand, the underwater cleaning robot 2 can be used for replacing manpower to clean the ship, so that the cleaning cost is saved, the efficiency is high, and the safety is good; on the other hand, because manual cleaning is not needed, the normal operation of the ship is not influenced in the process of cleaning the ship; on the other hand, in the cleaning process, the cleaned garbage can be restrained in the cavitation cleaning device 213 and can be recovered and filtered in real time through the water surface recovery component 8, so that the pollution to the seawater caused by the garbage falling into the water during cleaning is avoided.
Optionally, as shown in fig. 2-4, the underwater cleaning robot 2 further includes a main frame 201, a crawler 202, at least one vertical thruster 203, at least one horizontal thruster 204, at least one distance measuring sensor 205, an integral depth and height sensor 206, an electronic cabin 207, and a buoyancy module 208. The crawler traveling mechanisms 202 are arranged on two opposite sides of the main frame 201, the vertical propeller 203, the horizontal propeller 204 and the depth and height sensor 206 are arranged above the main frame 201, the distance measuring sensor 205 is arranged at the front end of the main frame 201, the electronic cabin 207 is arranged on the central axis of the main frame 201, and the buoyancy modules 208 are arranged on two opposite sides of the electronic cabin 207; the cavitation cleaning device 213 is disposed below the main frame 201.
On this basis, the underwater cleaning robot 2 may further include a cover plate 210 and an underwater camera 212. The cover plate 210 is disposed above the main frame 201, the crawler 202, the vertical thruster 203, the horizontal thruster 204, the distance measuring sensor 205, the depth and height integrated sensor 206, the electronic compartment 207, and the buoyancy module 208. Underwater cameras 212 are provided at the front and rear ends of the main frame 201.
In some embodiments, the number of the vertical thrusters 203 may be four, and the four vertical thrusters 203 are symmetrically installed above the main frame 201, and the underwater cleaning robot 2 may perform the functions of ascending, descending, depthkeeping, pitching, and the like in water by using the vertical thrusters 203.
The number of the horizontal thrusters 204 can be two, the two horizontal thrusters 204 are symmetrically arranged on two sides of the electronic cabin 207, and the underwater cleaning robot 2 can realize the functions of advancing, retreating, turning around and the like in a floating state by utilizing the horizontal thrusters 204.
By means of the thrust of the vertical thruster 203, the underwater cleaning robot 2 can be attached to the ship 2 and can travel adherent to the wall by the crawler travel mechanism 202. The crawler belt 202 may include a driving motor, a driving wheel train, a driven wheel train, a tensioning wheel train, a track shoe, and a synchronous belt, and the surface of the synchronous belt may further include an anti-slip layer.
The distance measuring sensor 205 provides the underwater cleaning robot 2 with distance information in front of the underwater cleaning robot 2; the depth-to-height integral sensor 206 provides the underwater cleaning robot 2 with depth and distance information from the bottom of the vessel.
The electronic cabin 207 serves as a center of the underwater cleaning robot 2, and can provide electric power transfer for the distance measuring sensor 205, the depth and height integrated sensor 206 and other components, and meanwhile, can receive an instruction sent by the industrial personal computer 11 and feed back execution information.
In some embodiments, the buoyancy module 208 may be fabricated using a series of sealed thin-walled hollow shells, which may be cylindrical, spherical, square, etc. Optionally, in this embodiment, a hollow cylindrical shell is mainly adopted, and by adopting a series of sealed thin-walled hollow shells as the buoyancy module 208, the shape, size, and installation position of the sealed shell can be determined according to the requirements of the underwater cleaning robot 2 on overall buoyancy, floating center position, and the like, so as to provide the required buoyancy, and avoid the buoyancy change caused by using glass beads type buoyancy materials with water absorption property.
Alternatively, as shown in fig. 5 and 6, the cavitation cleaning device 213 includes a rotary nozzle holder 2121, a cavitation nozzle 2122, a hollow tube 2123, a rotary joint 2124, a surrounding cover 2125, a spring 2126, a sewage pipe joint 2127, a fixing frame 2128, and a filter screen 2126.
The hollow tube 2123 is fixedly connected with a fixing frame 2128, and the fixing frame 2128 is arranged below the main frame 201; the rotary spray pipe frame 2121 is arranged at the lower end part of the hollow pipe 2123 through a bearing, and the cavitation nozzle 2122 is arranged at a water outlet at the tail end of the rotary spray pipe frame 2121; the rotary joint 2124 is disposed at the upper end of the hollow tube 2123 and connected to the high-pressure pump 7 via the high-pressure tube 14. The enclosure cover 2125 is provided around the rotary nozzle holder 2121 and the cavitation nozzle 2122, and has a side surface inclined gradually inward in the upward-downward direction, and an upper surface connected to the holder 2128 by a spring 2126; the upper part of the side surface of the enclosure 2125 is provided with a water inlet, the upper surface is provided with a sewage outlet, the water inlet of the enclosure 2125 is provided with a filter screen 2129, the sewage outlet of the enclosure 2125 is provided with a sewage discharge pipe joint 2127, and the sewage discharge pipe joint 2127 is connected with the water surface recovery assembly 8 through a sewage discharge pipe 18.
In some embodiments, the number of the water inlets of the enclosing cover 2125 may be plural, and the number of the sewage outlets of the enclosing cover 2125 may also be one.
In some embodiments, the cavitation nozzles 2122 are provided at the distal water outlet of the rotary nozzle holder 2121, and the number of the cavitation nozzles 2122 may be plural, and the plural cavitation nozzles 2122 are inclined outward at the same angle in the top-down direction. Thus, the cavitation nozzle 2122 discharges high-pressure water to generate a reaction force, and the reaction force rotates the rotary nozzle holder 2121 around the hollow tube 2123 to form a negative pressure in the closed cover 2125 near the hull wall surface. Since the enclosure 2125 is flexibly connected to the mount 2128 by the spring 2126, the negative pressure keeps the enclosure 2125 against the wall of the ship, ensuring that the garbage is confined in the enclosure 2125.
In some embodiments, a plurality of water inlet holes on the enclosure 2125 may ensure that seawater can freely enter and exit the enclosure 2125. By providing the filter 2129 at the water inlet of the enclosure 2125, the garbage can be prevented from flowing out of the enclosure 2125.
In some embodiments, the sides of the containment cover 2125 may be tapered inward in the top-to-bottom direction, such that when the containment cover 2125 encounters an obstacle during its advancement, the sides of the containment cover 2125 are forced to lift the containment cover 2125 upward. Since the upper surface of the closing cover 2125 is connected to the fixing frame 2128 by a spring, the spring may be pressed during the process of lifting the closing cover 2125 upward. On one hand, the enclosure cover 2125 can be effectively prevented from being stuck by the barrier; on the other hand, the holding frame 2128 is not pressed during the upward lifting of the enclosure cover 2125.
Optionally, as shown in fig. 7 and 8, the water surface garbage recycling assembly 8 includes a self-priming sewage pump 801, a first filtering device 802, a second filtering device 803, a three-way ball valve 804, a filter water inlet pipe 805, a filter water outlet pipe 806, a self-priming sewage pump water inlet 807, a self-priming sewage pump water outlet pipe 808, and a filter water outlet 809.
One end of the self-priming sewage pump 801 is connected with a water inlet 807 of the self-priming sewage pump, and the other end of the self-priming sewage pump 801 is respectively connected with an inlet of the first filtering device 802 and an inlet of the second filtering device 803 through a filter water inlet pipe 805, a three-way ball valve 804 and a self-priming sewage pump water outlet pipe 808; the outlet of the first filtering device 802 and the outlet of the second filtering device 803 are connected with a filter water outlet 809 through a filter water outlet pipe 806 and a three-way ball valve 804. The self-priming sewage pump water inlet 807 is connected with the cavitation cleaning device 213 through the sewage pipe 18.
The first filtering device 802 and the second filtering device 803 both include a coarse filtering chamber 8021, a coarse filtering net 8022, a filtering net fixing strip 8023, a communicating pipe 8024, a pipeline pump 8025, a one-way valve 8026, a sealing cover 8027, a fine filtering chamber 8028, a fine filtering net 8029, a sealing strip 80210, a pressure gauge seat 80211 and a pressure gauge 80212. On this basis, the first filtering device 802 and the second filtering device 803 further comprise a screw 80213 for fixing the sealing cover 8027 and the fine filtering chamber 8028.
The coarse filter screen 8022 is arranged in the coarse filter cavity 8021, and the fine filter screen 8029 is arranged in the fine filter cavity 8028; a communicating pipe 8024 is arranged between the coarse filter cavity 8021 and the fine filter cavity 8028, a pipeline pump 8025 and a one-way valve 8026 are arranged in the communicating pipe 8024, a pressure gauge seat 80211 is arranged on a sealing cover 8027, a pressure gauge 80212 is arranged on the pressure gauge seat 80211, and the sealing cover 8027 and the fine filter cavity 8028 are sealed through a sealing strip 80210.
When the ship is cleaned, the garbage cleaned by the cavitation cleaning device 213 enters the self-priming sewage pump 801 through the sewage pipe 18 and the self-priming sewage pump water inlet 807, and enters the first filtering device 802 and the second filtering device 803 in time sharing through the self-priming sewage pump 801.
The coarse filter screen 8022 of the first filter device 802 is filled with garbage quickly, the waterway and the garbage can be switched to the second filter device 803 through the three-way ball valve 804, and meanwhile, the coarse filter screen 8022 of the first filter device 802 filled with the garbage is lifted out for cleaning, and is installed in the coarse filter cavity 8021 again after being cleaned. After the coarse filter screen 8022 of the second filter device 803 is filled with garbage, the waterway and the garbage can be switched to the first filter device 802 through the three-way ball valve 804, meanwhile, the coarse filter screen 8022 of the second filter device 803 filled with the garbage is lifted out for cleaning, and is installed in the coarse filter cavity 8021 again after being cleaned, and the process is repeated.
Along with the increase of the cleaning time, more garbage is gradually accumulated in the fine filter screen 8029, so that the pressure of the fine filter chamber 8028 is increased, and when the value of the pressure gauge 80212 reaches a set value, the water path is switched and the garbage is cleaned or the fine filter screen 8029 is replaced according to the same operation of the coarse filter screen 8022.
The coarse filter screen 8022 can filter 90% of the garbage, and then the garbage is filtered by the fine filter screen 8029, so that the purified water can be discharged and supplied to the high-pressure pump 7, and the high-pressure pump 7 can perform a cleaning operation by using the purified water discharged from the first filter device 802 and the second filter device 803.
In some embodiments, after the pipeline pump 8025 works, the water in the coarse filter chamber 8021 can be forced to flow downward quickly, and simultaneously, the water pressure in the fine filter chamber 8028 is increased, so that the water in the fine filter chamber 8028 is forced to flow outward quickly, and the filtering efficiency of the filtering device is effectively improved. The check valve 8026 can control water and garbage to flow from the coarse filtering cavity 8021 to the fine filtering cavity 8028, and can effectively prevent the garbage and sewage in the fine filtering cavity 8028 from flowing back.
In some embodiments, the upper edge surface of the fine filter cavity 8028 is provided with a sealing groove, a sealing strip 80210 is installed in the sealing groove, and the sealing cover 8027 is connected and fastened with the fine filter cavity 8028 through a screw 80213, so that the periphery of the upper part of the fine filter cavity 8028 is sealed.
Optionally, the working area is further provided with a robot cloth recycling device 12.
When the underwater cleaning robot 2 is ready for cleaning or after cleaning is finished, the robot layout and recovery device 12 can be used for completing layout and recovery of the underwater cleaning robot 2 without additionally arranging a crane. The robot fixing device 13 can be arranged in the working area, and when the ship does not need to be cleaned, the underwater cleaning robot 2 is fixed in the water surface control shelter 1 by the robot fixing device 13.
Optionally, the working area further includes an optical cable reeling and unreeling device 9, the high-voltage tube 14 and the optical-electrical composite cable 16 can be accommodated in the optical cable reeling and unreeling device 9, so that the optical cables can be effectively reeled and distributed, and the problems of winding, kinking, difficulty in reeling and unreeling and the like of long-distance optical cables are solved. Wherein the high pressure pipe 14 and the optical-electrical combination cable 16 may be combined into an optical-electrical-hydraulic integrated cable 22, which is separated near the underwater cleaning robot 2.
In some embodiments, the high pressure tube 14 and the umbilical 16 are neutrally buoyant.
In some embodiments, the cable reel 9 may reel cables such as high pressure tubes, hydraulic tubes, fiber optic cables, and electrical cables.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. The underwater cleaning system for the ship is characterized by comprising a water surface control shelter and an underwater cleaning robot, wherein the water surface control shelter is divided into a power area and a working area;
the power area is provided with a generator set and a high-pressure pump; the working area is provided with a water surface recovery assembly, a main control cabinet, an industrial personal computer and a pipe cable reeling and unreeling device; the generator set is used for providing power for the ship underwater cleaning system; the device comprises a main control cabinet, an industrial personal computer, a pipe cable winding and unwinding device and a photoelectric liquid combined umbilical cable, wherein a voltage-stabilized power supply in the main control cabinet is used for providing power for the underwater cleaning robot, the industrial personal computer is used for controlling the underwater cleaning robot to work, and the pipe cable winding and unwinding device is used for winding and unwinding the photoelectric liquid combined umbilical cable;
the underwater cleaning robot comprises a cavitation cleaning device with a garbage enclosing function; the water outlet of the high-pressure pump is connected with the water inlet of the cavitation cleaning device, the sewage outlet of the cavitation cleaning device is connected with the water surface recovery assembly, and the water outlet of the water surface recovery assembly filter is connected with the water inlet of the high-pressure pump.
2. The marine underwater cleaning system of claim 1, wherein the underwater cleaning robot further comprises a main frame, a crawler traveling mechanism, at least one vertical thruster, at least one horizontal thruster, at least one distance measuring sensor, a depth and height integrated sensor, an electronic cabin, and a buoyancy module;
the crawler traveling mechanisms are arranged on two opposite sides of the main frame, the vertical thruster, the horizontal thruster and the depth and height sensor are arranged above the main frame, the distance measuring sensor is arranged at the front end of the main frame, the electronic cabin is arranged on the central axis of the main frame, and the buoyancy modules are arranged on two opposite sides of the electronic cabin;
the cavitation cleaning device is arranged below the main frame.
3. The underwater cleaning system for the ship according to claim 2, wherein the cavitation cleaning device comprises a rotary spray pipe frame, a cavitation nozzle, a hollow pipe, a rotary joint, a surrounding cover, a spring, a sewage discharge pipe joint, a fixing frame and a filter screen;
the hollow pipe is fixedly connected with the fixing frame, and the fixing frame is arranged below the main frame; the rotary spray pipe frame is arranged at the lower end part of the hollow pipe through a bearing, and the cavitation nozzle is arranged at a water outlet at the tail end of the rotary spray pipe frame; the rotary joint is arranged at the upper port of the hollow pipe and is connected with the high-pressure pump through a high-pressure pipe;
the enclosing cover is arranged around the rotary spray pipe rack and the cavitation nozzle, the side surface of the enclosing cover is gradually inclined inwards along the direction from top to bottom, and the upper surface of the enclosing cover is connected with the fixed frame through a spring; the upper part of the side surface of the enclosing cover is provided with a water inlet, and the upper surface of the enclosing cover is provided with a sewage outlet; the water inlet of the enclosing cover is provided with the filter screen, the sewage outlet of the enclosing cover is provided with the sewage discharge pipe joint, and the sewage discharge pipe joint is connected with the water surface recovery assembly through a sewage discharge pipe.
4. The underwater marine cleaning system of any one of claims 1 to 3, wherein the surface garbage recycling assembly includes a self-priming sewage pump, a first filtering device, a second filtering device, a three-way ball valve, a filter water inlet pipe, a filter water outlet pipe, a self-priming sewage pump water inlet, a self-priming sewage pump water outlet pipe, a filter water outlet;
one end of the self-suction sewage pump is connected with the water inlet of the self-suction sewage pump, and the other end of the self-suction sewage pump is respectively connected with the inlet of the first filtering device and the inlet of the second filtering device through the filter water inlet pipe, the three-way ball valve and the self-suction sewage pump water outlet pipe; the outlet of the first filtering device and the outlet of the second filtering device are connected with the water outlet of the filter through the water outlet pipe of the filter and the three-way ball valve;
the water inlet of the self-suction sewage pump is connected with the cavitation cleaning device through a sewage discharge pipe.
5. The underwater marine cleaning system of claim 4, wherein the first filtering device and the second filtering device each comprise a coarse filtering chamber, a coarse filtering net, a filtering net fixing strip, a communicating pipe, a pipeline pump, a one-way valve, a sealing cover, a fine filtering chamber, a fine filtering net, a sealing strip, a pressure gauge seat and a pressure gauge;
the coarse filter screen is arranged in the coarse filter cavity, and the fine filter screen is arranged in the fine filter cavity; the communicating pipe is arranged between the coarse filter cavity and the fine filter cavity, the pipeline pump and the one-way valve are arranged in the communicating pipe, the pressure gauge seat is installed on the sealing cover, the pressure gauge is installed on the pressure gauge seat, and the sealing cover and the fine filter cavity are sealed through the sealing strip.
6. Marine vessel underwater cleaning system according to any of claims 1-3, characterised in that the working area is further provided with a robot cloth recovery device.
7. Marine vessel underwater cleaning system according to any one of claims 1 to 3, characterised in that a sound-absorbing panel is arranged between the power zone and the working zone.
8. An underwater cleaning method for a ship is characterized by comprising the following steps:
the underwater cleaning system for the ship comprises a water surface control shelter and an underwater cleaning robot; when a ship is cleaned, the ship is cleaned by using a cavitation cleaning device of an underwater cleaning robot, garbage generated in the cleaning process is confined in an enclosing cover of the cavitation cleaning device, and is recovered and filtered in real time through a water surface recovery component, and meanwhile, filtered clean water is supplied to a high-pressure pump;
the cavitation cleaning device comprises a rotary spray pipe frame, a cavitation nozzle, a hollow pipe, a rotary joint, a surrounding cover, a spring, a sewage discharge pipe joint, a fixing frame and a filter screen;
the hollow pipe is fixedly connected with the fixing frame, and the fixing frame is arranged below the main frame; the rotary spray pipe frame is arranged at the lower end part of the hollow pipe through a bearing, and the cavitation nozzle is arranged at a water outlet at the tail end of the rotary spray pipe frame; the rotary joint is arranged at the upper port of the hollow pipe and is connected with the high-pressure pump through a high-pressure pipe; the enclosing cover is arranged around the rotary spray pipe rack and the cavitation nozzle, the side surface of the enclosing cover is gradually inclined inwards along the direction from top to bottom, and the upper surface of the enclosing cover is connected with the fixed frame through a spring; the upper part of the side surface of the enclosing cover is provided with a water inlet, the upper surface of the enclosing cover is provided with a sewage outlet, the water inlet of the enclosing cover is provided with a filter screen, the sewage outlet of the enclosing cover is provided with a sewage discharge pipe joint, and the sewage discharge pipe joint is connected with the water surface recovery assembly through a sewage discharge pipe;
the cavitation nozzle can generate reaction force after spraying high-pressure water, the reaction force drives the rotary spray pipe frame to rotate around the hollow pipe, and negative pressure is formed on the wall surface close to the ship body in the enclosing cover; the negative pressure can make the enclosing cover always cling to the wall of the ship, and the cleaned garbage is limited in the enclosing cover;
the water inlet holes on the enclosure cover ensure that seawater can freely enter and exit the enclosure cover, and the filter screen is arranged at the water inlet holes of the enclosure cover to limit garbage from flowing out of the enclosure cover;
the side surface of the enclosing cover can gradually incline inwards along the direction from top to bottom, and when the enclosing cover encounters an obstacle in the advancing process, the side surface of the enclosing cover is stressed to enable the enclosing cover to be lifted upwards; in the process of lifting the enclosure upwards, the spring is extruded, so that the enclosure can be effectively prevented from being blocked by a barrier; the fixing frame cannot be extruded in the process that the enclosure cover is lifted upwards;
when the ship is cleaned, garbage cleaned by the cavitation cleaning device enters the self-suction sewage pump through the sewage discharge pipe and the water inlet of the self-suction sewage pump, and enters the first filtering device and the second filtering device in a time-sharing manner through the self-suction sewage pump;
the coarse filter screen of the first filter device is quickly filled with garbage, the waterway and the garbage are switched to the second filter device through the three-way ball valve, meanwhile, the coarse filter screen of the first filter device filled with the garbage is lifted out for cleaning, and the coarse filter screen is installed in the coarse filter cavity again after being cleaned;
after the coarse filter screen of the second filter device is filled with garbage, the waterway and the garbage are switched to the first filter device through the three-way ball valve, meanwhile, the coarse filter screen of the second filter device filled with the garbage is lifted out for cleaning, and is installed in the coarse filter cavity again after being cleaned, and the process is repeated;
along with the increase of the cleaning time, more garbage is gradually accumulated in the fine filter screen, so that the pressure of the fine filter chamber is increased, and when the numerical value of the pressure gauge reaches a set value, the waterway is switched and the garbage is cleaned or the fine filter screen is replaced according to the same operation of the coarse filter screen;
wherein 90% of garbage is filtered by the coarse filter screen, and then the garbage is filtered by the fine filter screen, so that clean water can be discharged and supplied to the high-pressure pump, and the high-pressure pump performs cleaning operation by using the clean water discharged from the first filter device and the second filter device;
when the underwater cleaning robot is ready to be cleaned or after cleaning is finished, the robot distributing and recovering device completes distributing and recovering of the underwater cleaning robot, and the robot fixing device fixes the underwater cleaning robot in the water surface control cabin.
9. The method of claim 8,
the underwater cleaning robot comprises a main frame, a crawler walking mechanism, at least one vertical propeller, at least one horizontal propeller, at least one distance measuring sensor, a depth and height integrated sensor, an electronic cabin and a buoyancy module;
the crawler traveling mechanisms are arranged on two opposite sides of the main frame, the vertical propeller, the horizontal propeller and the depth and height sensor are arranged above the main frame, the distance measuring sensor is arranged at the front end of the main frame, the electronic cabin is arranged on the central axis of the main frame, and the buoyancy modules are arranged on two opposite sides of the electronic cabin; the cavitation cleaning device is arranged below the main frame;
the underwater cleaning robot is adsorbed on the ship by means of the thrust of the vertical propeller and runs along the wall through the crawler belt running mechanism;
the distance measuring sensor provides distance information in front of the underwater cleaning robot for the underwater cleaning robot; the depth and height integrated sensor provides depth and distance information from the bottom of the ship for the underwater cleaning robot;
the electronic cabin is used as a center of the underwater cleaning robot, the distance measuring sensor, the depth and height integrated sensor and other components provide power transfer, and meanwhile, the electronic cabin receives instructions sent by the industrial personal computer and feeds back execution information.
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| CN114633849A (en) * | 2022-04-07 | 2022-06-17 | 昆明海威机电技术研究所(有限公司) | Multi-degree-of-freedom underwater cavitation cleaning device suitable for various working surfaces |
| CN114919718A (en) * | 2022-05-16 | 2022-08-19 | 昆明海威机电技术研究所(有限公司) | Water surface equipment system of underwater cleaning robot |
| CN114919718B (en) * | 2022-05-16 | 2023-05-16 | 昆明海威机电技术研究所(有限公司) | Water surface equipment system of underwater cleaning robot |
| WO2024016430A1 (en) * | 2022-07-21 | 2024-01-25 | 上海中车艾森迪海洋装备有限公司 | All-electric drive-based power and control system for submarine tracked operation robot |
| CN117585117A (en) * | 2024-01-18 | 2024-02-23 | 常州泰尔格重工机械有限公司 | Cleaning robot for ship and working method thereof |
| CN117585117B (en) * | 2024-01-18 | 2024-03-19 | 常州泰尔格重工机械有限公司 | Cleaning robot for ship and working method thereof |
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| CN112623140B (en) | 2022-12-27 |
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Effective date of registration: 20221118 Address after: 650051 No. 3 East Renmin Road, Yunnan, Kunming Applicant after: KUNMING SHIPBUILDING EQUIPMENT Co.,Ltd. Address before: 650000 floor 401, Kunchuan Industrial Zone, ALA sub district office, Kunming Economic Development Zone, Kunming pilot Free Trade Zone, Yunnan Province Applicant before: KUNMING HAIWEI DYNAMO-ELECTRIC TECHNOLOGY INSTITUTE (Ltd.) |
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