CN113212686A - Hull surface cleaning equipment and working method thereof - Google Patents
Hull surface cleaning equipment and working method thereof Download PDFInfo
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- CN113212686A CN113212686A CN202110495558.1A CN202110495558A CN113212686A CN 113212686 A CN113212686 A CN 113212686A CN 202110495558 A CN202110495558 A CN 202110495558A CN 113212686 A CN113212686 A CN 113212686A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003028 elevating effect Effects 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 7
- 230000009471 action Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 244000045947 parasite Species 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 241001474374 Blennius Species 0.000 description 1
- 241000345998 Calamus manan Species 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000012950 rattan cane Nutrition 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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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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- 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
- B63B2059/082—Cleaning devices for hulls of underwater surfaces while afloat the devices being supported on arms or rods
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- Chemical & Material Sciences (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses ship body surface cleaning equipment and a working method thereof, and belongs to the technical field of ship bottom cleaning. It includes equipment body and hull, the lateral wall top hoop of hull is provided with a plurality of guide rail, the length direction of guide rail sets up downwards, equipment body has set gradually slider, linking arm and quick-witted case from top to bottom, the mouth inner chamber that goes up and down is provided with the limiting plate, the limiting plate is on a parallel with the top face of mouth goes up and down, storage intracavity fixedly connected with is used for adjusting each and washs the elevating system of box relative height in the storage intracavity, be equipped with the PLC controller that is used for selecting different cleaning apparatus on the equipment body, machine case dorsad be provided with the screw on the surperficial lateral wall of hull. The invention can remove attachments from the ship body in the running process of the ship, thereby prolonging the cleaning time of the ship returning to a factory and reducing the loss of the ship in the running process.
Description
Technical Field
The invention relates to ship body surface cleaning equipment and a working method thereof, and belongs to the technical field of ship bottom cleaning.
Background
The ship is at long-term marine operation in-process, because there is a large amount of parasites to adhere to at the bottom of a ship in the aquatic, increase the burden of ship, pile up in the bottom of a ship in a large number, quantity is amazing and the quality is great, the weight of hull has been increased, still can make the speed of hull descend, increase the consumption of fuel, and the parasite (being the attachment on hull surface mentioned herein) still can corrode the hull, cause the destruction to the hull, the ship need return to the factory after every period and clear up to ensure the life of ship.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provides a hull surface cleaning device, which solves the problem of attachment on the surface of a ship.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a hull surface cleaning equipment, includes equipment body and hull, the lateral wall top hoop of hull is provided with a plurality of guide rail, the length direction of guide rail sets up downwards, equipment body has set gradually slider, linking arm and quick-witted case from top to bottom, the top of linking arm with the slider is articulated mutually, the bottom and the quick-witted case of linking arm are fixed mutually, the linking arm is flexible, the partial rotatory arm structure, the linking arm makes quick-witted case lateral wall surface be on a parallel with the hull surface through self shape adjustment, and quick-witted case lateral wall towards hull surface has set gradually storage chamber, pipeline and lifting port from top to bottom, pipeline's one end with storage chamber lateral wall is linked together, pipeline's the other end the lifting port inner chamber lateral wall communicates, pipeline length direction is on a parallel with the lateral wall towards the hull on the quick-witted case, the storage cavity and the axis of the lifting port are perpendicular to the side wall, facing the hull, of the case, a sensor is fixedly connected to the end face, contacting with the surface of the hull, of the lifting port, a plurality of cleaning boxes are sequentially stacked in the storage cavity along the axis direction, the cleaning boxes move synchronously in the storage cavity along the axis direction of the storage cavity, a cleaning appliance is arranged in the cleaning boxes in a sliding manner, an inlet and an outlet, connected with the inner cavity, of the side wall of each cleaning box are matched with the inlet and the outlet at one end of the conveying pipeline in shape and size, a limiting plate is arranged in the inner cavity of the lifting port and is parallel to the top end face of the lifting port, a lifting mechanism for adjusting the relative height of each cleaning box in the storage cavity is fixedly connected to the storage cavity, and a cylinder is fixedly connected to the lifting port, the opening direction of the lifting port faces to the surface of the ship body, a motor is fixedly connected to the movable end of the air cylinder, the cleaning devices are sleeved on the output end of the motor in a matching mode, the equipment body is provided with a PLC (programmable logic controller) used for selecting different cleaning devices, and the machine case faces away from the side wall of the surface of the ship body and is provided with a propeller.
As a preferable example, the edge of the side wall surface of the case, which faces away from the surface of the ship body, is hinged with a plate body.
As a preferable example, a catching mechanism is further fixedly connected to the side wall of the ship body, and the equipment body is closer to the water-facing end of the ship body than the catching mechanism.
As a preferable example, the connecting arm comprises at least three connecting rods, the connecting mode adopted by adjacent connecting rods is hinged or connected through a universal ball, and part of the connecting rods in the connecting rods is of a telescopic structure.
As a preferable example, a hook structure is fixedly connected to the annular direction of the inlet and outlet of the lifting port and is used for fixing the area where attachments on the surface of the ship body are located.
As a preferred example, a support piece used for reducing the shaking amplitude of the chassis and the connecting arm is arranged on one guide rail adjacent to the current guide rail in a sliding mode.
As a preferable example, a passage is formed in the case, the output end of the propeller is located in the passage, the inlet end of the passage is located on the side wall of the water-facing end of the case, and the passage is gradually far away from the hull along the length direction of the passage from the inlet end as a starting point.
The working method of the ship hull surface cleaning equipment comprises the following steps: the method comprises the following steps:
the method comprises the following steps: collecting contour data of each position on the surface of a ship body, fixing a plurality of guide rails at the top end of the side wall of the ship body, numbering each guide rail, keeping a connecting arm in a vertical state initially, and lowering a case in a direction facing the surface of the ship body;
step two: operating a propeller on the case to enable the case to be in contact with the ship body, matching the bending of the connecting arm until the lifting port of the case is in contact with the attachments on the surface of the ship body, and judging the thickness of the attachment layer according to the current contact area and profile data of the case;
step three: different cleaning appliances are selected according to different thicknesses.
The invention has the beneficial effects that: the invention uses the guide rail, the slide block, the connecting arm, the chassis and the like to match with the contour data of the surface of the ship body to judge the actual distance of the contact point of the lifting port end of the chassis on the surface of the ship body, thereby judging the thickness of the attachment on the surface of the ship body at the current position, selecting a proper cleaning appliance in the storage cavity of the chassis, sliding the cleaning appliance into the lifting port through the conveying pipeline, and then using the movement of the movable end of the air cylinder, the output end of the motor fixed at the movable end of the air cylinder can be matched and clamped with the cleaning appliance sliding into the lifting port, thereby cleaning the attachment on the surface of the ship body contacted with the lifting port at present.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a case structure according to the present invention;
FIG. 3 is a schematic structural view of the support member of the present invention;
FIG. 4 is a perspective view of the structure of the cleaning cartridge of the present invention;
FIG. 5 is a schematic view of the cleaning device of the present invention (illustrating the structure of the drill bit fixedly connected to the upper portion of the sleeve of the cleaning device);
FIG. 6 is a schematic view of the structure of the fishing mechanism of the present invention.
In the figure: the device comprises a guide rail 1, a sliding block 2, a case 3, a storage cavity 4, a conveying pipeline 5, a lifting port 6, a cleaning box 7, a propeller 8, a plate body 9, a fishing mechanism 10, a connecting rod 11, a hook structure 12, a horizontal rod body 13, a passage 14, a ship body 15, an attachment layer 16, a cleaning device 17, a limiting plate 18, a cylinder 19, a motor 20, a rope body 21 and a base plate 22.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purpose and the efficacy of the invention easy to understand, the invention is further described with reference to the specific drawings.
As shown in fig. 1-6, a surface cleaning device for a ship body 15 comprises a device body and a ship body 15, wherein a plurality of guide rails 1 are annularly arranged at the top end of the side wall of the ship body 15, the guide rails 1 are arranged downwards in the length direction, the device body is sequentially provided with a slider 2, a connecting arm and a case 3 from top to bottom, the top end of the connecting arm is hinged with the slider 2, the bottom end of the connecting arm is fixed with the case 3, the connecting arm is of a mechanical arm structure which can be bent, stretched and partially rotated, the connecting arm enables the side wall surface of the case 3 to be parallel to the surface of the ship body 15 through self shape adjustment, the side wall of the case 3 facing the surface of the ship body 15 is sequentially provided with a storage cavity 4, a conveying pipeline 5 and a lifting port 6 from top to bottom, one end of the conveying pipeline 5 is communicated with the side wall of the storage cavity 4, the other end of the lifting port 6 is communicated with the side wall of the conveying pipeline 5, the conveying pipeline 5 is parallel to the side wall facing the ship body 15 on the case 3 in the length direction, the axes of the storage chamber 4 and the lifting port 6 are both vertical to the side wall of the case 3 facing the ship body 15, the end surface of the lifting port 6 contacting with the surface of the ship body 15 is fixedly connected with a sensor, a plurality of cleaning boxes 7 are sequentially stacked in the storage chamber 4 along the self axis direction, the plurality of cleaning boxes 7 synchronously move in the storage chamber 4 along the axis direction of the storage chamber 4, the cleaning devices 17 are slidably arranged in the inner chambers of the cleaning boxes 7, the inlet and the outlet connected with the self inner chamber on the side wall of the cleaning boxes 7 are matched with the inlet and the outlet at one end of the conveying pipeline 5 in shape and size, the inner chamber of the lifting port 6 is provided with a limiting plate 18, the limiting plate 18 is parallel to the top end surface of the lifting port 6, the storage chamber 4 is fixedly connected with a lifting mechanism for adjusting the relative height of each cleaning box 7 in the storage chamber 4, and a cylinder 19 is fixedly connected in the lifting port 6, the opening direction of the lifting port 6 faces the surface of the ship body 15, the movable end of the air cylinder 19 is fixedly connected with a motor 20, the cleaning device 17 is sleeved on the output end of the motor 20 in a matching mode, the equipment body is provided with a PLC (programmable logic controller) used for selecting different cleaning devices 17, and the side wall of the case 3, back to the surface of the ship body 15, is provided with a propeller 8.
It should be noted that, guide rail 1 is detachably installed on hull 15, guide rail 1 length direction is downward, guide rail 1 extends downwards along hull 15 side wall surface, the top of connecting arm is articulated with slider 2 mutually, in addition, the operation such as shrink rotation of the connecting arm appearing herein, can set up the loop wheel machine on hull 15, utilize the haulage rope on the loop wheel machine to carry out the part with the connecting arm and be connected, supplementary connecting arm carries out accurate controllable bending, flexible and part rotation, the connecting arm disposes corresponding sensor, to the angle that each section of connecting arm formed, and the final position of quick-witted case 3 carries out accurate control, or utilize the PLC controller, record the instruction of the connecting arm bending each time, flexible and part rotation, thereby judge the concrete shape of present connecting arm indirectly.
The sensor at the lifting port 6 can be a pressure-sensitive sensor, the contact position of the case 3 with the attachment can be rapidly judged through the pressure-sensitive sensor, so as to indirectly judge the thickness of the attachment, the cleaning box 7 is used for separating different cleaning devices 17, the exterior of the cleaning box 7 is of a cylindrical structure (the side wall of the cleaning box 7 is annularly provided with a plurality of grooves, the length direction of the grooves is parallel to the axis of the cleaning box 7, the side wall of the inner cavity of the storage cavity 4 is provided with a plurality of convex ribs, the grooves are matched with each other and slidably clamped on the convex ribs, so that the cleaning box 7 can not rotate in the process of moving in the inner cavity of the storage cavity 4, so that the inlet and outlet of the side wall of each cleaning box 7 can be matched and communicated with the inlet and outlet of the conveying pipeline 5 when passing through the junction of the storage cavity 4 and the conveying pipeline 5), the radius of the cross section of the cleaning box 7 is equal to the radius of the cross section of the inner cavity of the storage cavity 4, the side wall of the cleaning box 7 is provided with a sliding groove (the sliding groove extends to the middle part of the cleaning box 7, namely the sliding groove is communicated with the inner cavity), the cleaning device 17 is arranged in the sliding groove in a matching and sliding way, the lifting mechanism in the storage cavity 4 is a spring fixedly connected with two ends of the inner cavity of the storage cavity 4 respectively, the two springs are both in a compressed state, the free end of each spring is fixedly connected with a backing plate 22, the backing plate 22 is used for contacting with the cleaning box 7, one backing plate 22 of the two backing plates 22 is fixedly connected with a rope body 21, one end of the rope body 21 is fixedly connected with a motor 20 arranged at the end part of the inner cavity of the storage cavity 4 (the rope body 21 is wound on the output end of the motor 20 and winds and releases the rope body 21 under the rotation of the output end of the motor 20), the rope body 21 is wound and unwound by the motor 20 at the position, so that one backing plate 22 of the two cushion blocks moves, the other pad 22 is moved synchronously, so that the synchronous movement of a plurality of cleaning boxes 7 between the two pads 22 is ensured.
That is, after the rope 21 is wound or released by the motor 20, the inlet and outlet connected to the inner cavity of one of the cleaning boxes 7 in the plurality of cleaning boxes 7 is aligned with the inlet and outlet at one end of the conveying pipeline 5, and then the machine case 3 is turned over integrally by using the connecting arm, so that the cleaning device 17 in the storage chamber 4 moves to the inner cavity of the lifting port 6 through the storage chamber 4 and the inner cavity of the conveying pipeline 5 under the action of gravity, at this time, the limiting plate 18 of the inner cavity of the lifting port 6 is in a state of separating the inner cavity of the lifting port 6, the limiting plate 18 can be a plate body 9 and moves to the middle part of the inner cavity of the lifting port 6 through the side wall of the inner cavity of the lifting port 6, or the limiting plate 18 is in a mechanical aperture structure, the cleaning device 17 moving to the inner cavity of the lifting port 6 under the action of gravity is located in a space formed by the surrounding of the limiting plate 18 and the inner cavity of the lifting port 6, and the movable end of the cylinder 19 in the inner cavity of the lifting port 6 starts to move to the position of the limiting plate 18, the output end of the motor 20 on the movable end of the cylinder 19 is matched, pressed and clamped in the middle of the cleaning device 17, it should be noted that the cleaning device 17 is a middle hard cylindrical sleeve (the motor 20 is fixed on the movable end of the cylinder 19, the output end of the motor 20 extends into the sleeve, and the interference fit between the output end of the motor 20 and the sleeve is realized), a brush or an impeller or a metal shell is fixedly connected on the outer side wall of the sleeve, the cleaning device 17 is selected according to the approximate thickness of the measured attachment, and the cleaning device 17 with the brush is mainly used for processing the attachment layer with relatively small thickness; the impellers are annularly arranged on the sleeve, and the edges of the impellers are mostly blades, so that the impellers are used for dealing with the situation that algae substances on the surface of attachments are more; the metal shell is fixed on the surface of the sleeve to form a drill bit structure, and the drill bit structure is used for solving the problems that the thickness of an attachment layer 16 is large and the hardness of attachments is relatively large, all storage spaces occupied by cleaning devices are cylindrical, in the process that the cleaning devices 17 are transferred in the inner cavities of the storage cavity 4-the conveying pipeline 5-the lifting port 6, the width of the inner cavity of the conveying pipeline 5 is matched with the diameter of the cleaning devices 17, the height of the inner cavity of the conveying pipeline 5 is matched with the thickness of the cleaning devices 17, after the cleaning devices 17 are moved to the lifting port 6, the cleaning devices 17 do not deflect, the movable end of the air cylinder 19 moves towards the direction of the limiting plate 18 which is used for separating the inner cavity of the lifting port 6, the limiting plate 18 which is used for separating the inner cavity of the lifting port 6 serves as a support, and in the moving process of the movable end of the air cylinder 19, the output end of the motor 20 fixed on the air cylinder 19 can be matched, pressed and clamped and embedded in the inner cavity of the sleeve in the middle of the cleaning devices 17 (namely, the cleaning devices 17 are matched with the sleeve On the output of the motor 20).
After the cleaning device 17 is fixedly sleeved on the motor 20, the limiting plate 18 is moved to the lifting port 6 to restore to be smooth, the output end of the air cylinder 19 can extend out of the case 3 through the lifting port 6, the cleaning device 17 can be contacted with an attachment layer 16 on the surface of the ship body 15, when the cleaning device 17 needs to be replaced, the air cylinder 19 retracts until the cleaning device 17 completely retracts into the inner cavity of the lifting port 6, a groove is formed in the bottom wall of the inner cavity of the lifting port 6, the output end of the air cylinder 19 firstly passes through the groove and then extends into the inner cavity of the lifting port 6, the cross section of the cleaning device 17 is larger than the groove, the cleaning device 17 is separated from the free end of the air cylinder 19 after the air cylinder 19 further retracts into the groove, at the moment, the limiting plate 18 is moved to block the lifting port 6, the lifting port 6 is positioned right above the storage cavity 4 by utilizing the bending rotation of the connecting arm, the cleaning device 17 falls back into the storage cavity 4 through the entrance and exit of the side wall of the lifting port 6 under the action of gravity, at this time, the lifting mechanism of the inner cavity of the storage chamber 4 can be adjusted, so that the inlet and outlet of the side wall of the cleaning box 7 provided with the rest of the cleaning devices 17 are communicated with the inlet and outlet of one end of the conveying pipeline 5, and the replacement of the cleaning devices 17 can be completed by repeating the previous sleeving operation of the cleaning devices 17 and the output end of the motor 20.
The PLC controller that is equipped with on the equipment body is used for writing down the distance that slider 2 reciprocated, shape change degree on the linking arm, the screw 8 operation on the quick-witted case 3 to and control elevating system, limiting plate 18 etc. come the selection and the change of cleaning means 17, the screw 8 that sets up on the quick-witted case 3 mainly is used for providing power for quick-witted case 3, ensures that quick-witted case 3 can be from the owner to hull 15 surface removal, reduces the operating pressure of linking arm (the linking arm is longer, is not convenient for carry out the traction that is powerful relatively to quick-witted case 3).
The board body 9 is hinged to the surface edge of the side wall of one side, back to the surface of the ship body 15, of the case 3, the board body 9 is driven by the air cylinder 19 or the motor 20 to rotate the board body 9, the board body 9 is used for being clamped and embedded in the attachment layer 16 when the cleaning device 17 on the case 3 is clamped and embedded, the board body 9 rotates by the aid of the rotation of the board body 9, the board body 9 is parallel to the upstream face, stress of the free end of the board body 9 is increased, overall stress of the case 3 is improved, and the part clamped and embedded in the attachment layer on the case 3 is pried.
Still fixedly connected with on the lateral wall of hull 15 catches mechanism 10, the equipment body is closer to the upstream end of hull 15 than catching mechanism 10, catch mechanism 10 here is network structure, prevent that cleaning apparatus 17 is at the in-process of operation, because the resistance of water, attachment hardness factor or initial installation cleaning apparatus 17 self do not install firmly and the coming off of cleaning apparatus 17 that leads to, catch mechanism 10 here can retrieve the subassembly that drops on quick-witted case 3, carry out a small amount of sampling analysis to the attachment that partial clearance got off simultaneously, whether can accomplish corresponding cleaning work with cleaning apparatus 17 in judging current storage chamber 4.
The linking arm includes three piece at least connecting rods 11, and the connected mode that adjacent connecting rod 11 adopted is articulated or connects through universal ball, and some connecting rods 11 in a plurality of connecting rod 11 are extending structure.
The hook structure 12 is fixedly connected to the outlet and inlet of the lifting port 6 in the circumferential direction and used for fixing the area where attachments on the surface of the ship body 15 are located, the hook structure 12 can be directly contacted with substances on the attachment layer 16 in the moving process of the cabinet 3, most attachments mainly comprise seaweed and rattan pots, the cabinet 3 is pushed by the propeller 8 or pulled by the connecting arm to enable the lifting port 6 to be contacted with the attachment layer 16, the hook structure 12 at the lifting port 6 can enable the lifting port 6 to be not easily and quickly separated from the attachment layer 16 when the lifting port 6 is contacted with the attachment layer 16, sufficient detection time is provided for judging the thickness of the attachment layer 16 on the surface of the ship body 15, and errors caused by instantaneous values are reduced.
Slide on the guide rail 1 adjacent with current guide rail 1 and be provided with the support piece that is used for reducing quick-witted case 3 and linking arm and rocks the range, the support frame of here includes another linking arm and the horizontal rod body 13 and constitutes, the linking arm of here carries out synchronous crooked (the linking arm that is connected with quick-witted case 3 can take place to rotate at the during operation, the linking arm on the support piece of here does not take place to rotate), the one end and the quick-witted case 3 fixed connection of the horizontal rod body 13, the other end of the horizontal rod body 13 and the free end fixed connection of being connected in the support frame, the horizontal rod body 13 of here provides the support for quick-witted case 3, reduce rocking of quick-witted case 3 when clearing up the attachment, reduce the holding pressure of the arm of connecting quick-witted case 3.
A passage 14 is formed in the case 3, the output end of the propeller 8 is positioned in the passage 14, the inlet end of the passage 14 is positioned on the side wall of the water-facing end of the case 3, the passage 14 is gradually far away from the ship body 15 along the length direction of the passage from the inlet end as a starting point, the inlet end of the passage 14 can be closed, and under the condition that the ship body 15 moves, the part of water flowing through the passage 14 can push the case 3 to the inside of the surface of the ship body 15, so that the work of a connecting arm on the case 3 can be reduced.
The working method of the surface cleaning equipment for the ship body 15 comprises the following steps:
the method comprises the following steps: collecting contour data of all positions on the surface of a ship body 15, fixing a plurality of guide rails 1 at the top end of the side wall of the ship body 15, numbering each guide rail 1, keeping a connecting arm in a vertical state initially, and lowering a case 3 in a direction facing the surface of the ship body 15;
step two: operating the propeller 8 on the case 3 to enable the case 3 to be in contact with the ship body 15 and to be matched with the bending of the connecting arm until the lifting port 6 of the case 3 is in contact with the attachments on the surface of the ship body 15, and judging the thickness of the attachment layer according to the current contact area and profile data of the case 3;
step three: selecting different cleaning devices 17 according to different thicknesses, adjusting each cleaning box 7 by a lifting mechanism to enable the side wall inlet and outlet of one cleaning box 7 to be communicated with the inlet and outlet of the conveying pipeline 5, adjusting a connecting arm, turning over the case 3 to enable the cleaning device 17 to slide out of the cleaning box 7 and slide to the inner cavity of the lifting port 6 through the conveying pipeline 5, enabling the movable end of the air cylinder 19 to move towards the limiting plate 18 under the support of the limiting plate 18 of the inner cavity of the lifting port 6, enabling the output end of a motor 20 fixedly connected with the movable end of the air cylinder 19 to be embedded in the cleaning device 17 in a matching mode in the moving process, removing the separation of the inner cavity of the lifting port 6 (removing the support of the cleaning device 17) by the limiting plate 18, enabling the movable end of the air cylinder 19 to drive the cleaning device 17 to extend out of the lifting port 6, and cleaning the surface area of the ship body 15.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A hull surface cleaning apparatus comprising an apparatus body and a hull (15), characterized in that: the side wall top hoop of hull (15) is provided with a plurality of guide rail (1), the length direction of guide rail (1) sets up downwards, the equipment body has set gradually slider (2), linking arm and quick-witted case (3) from top to bottom, the top of linking arm with slider (2) is articulated mutually, the bottom and the quick-witted case (3) of linking arm are fixed mutually, the linking arm is flexible, the partial rotatory arm structure, the linking arm makes quick-witted case (3) lateral wall surface be on a parallel with hull (15) surface through the shape adjustment of self, has set gradually storage chamber (4), pipeline (5) and lift mouth (6) from top to bottom towards quick-witted case (3) lateral wall on hull (15) surface, the one end of pipeline (5) with storage chamber (4) lateral wall is linked together, the other end of pipeline (5) the inner chamber lateral wall of lift mouth (6) is linked together, the length direction of the conveying pipeline (5) is parallel to the side wall, facing the ship body (15), of the case (3), the axes of the storage chamber (4) and the lifting port (6) are perpendicular to the side wall, facing the ship body (15), of the case (3), the end face, contacting with the surface of the ship body (15), of the lifting port (6) is fixedly connected with a sensor, a plurality of cleaning boxes (7) are sequentially stacked in the storage chamber (4) along the axis direction of the cleaning boxes, the cleaning boxes (7) move synchronously in the storage chamber (4) along the axis direction of the storage chamber (4), cleaning devices (17) are arranged in the inner chamber of each cleaning box (7) in a sliding mode, an inlet and an outlet, connected with the inner chamber of the cleaning boxes (7), on the side wall of each cleaning box (7), are matched with the shape and size of the inlet and the outlet at one end of the conveying pipeline (5), go up and down mouthful (6) inner chamber and be provided with limiting plate (18), limiting plate (18) are on a parallel with go up and down the top face of mouthful (6), fixedly connected with is used for adjusting the elevating system of each cleaning box (7) relative height in storage chamber (4), fixedly connected with cylinder (19) in going up and down mouthful (6), the opening direction of going up and down mouthful (6) towards hull (15) surface, fixedly connected with motor (20) are served in cylinder (19) activity, cleaning apparatus (17) matching cover is established on motor (20) output, be equipped with the PLC controller that is used for selecting different cleaning apparatus (17) on the equipment body, quick-witted case (3) dorsad be provided with screw (8) on the lateral wall on hull (15) surface.
2. A hull surface cleaning apparatus according to claim 1, wherein: the edge of the side wall surface of one side of the case (3) back to the surface of the ship body (15) is hinged with a plate body (9).
3. A hull surface cleaning apparatus according to claim 1, wherein: the side wall of the ship body (15) is also fixedly connected with a catching mechanism (10), and the equipment body is closer to the water facing end of the ship body (15) than the catching mechanism (10).
4. A hull surface cleaning apparatus according to claim 1, wherein: the connecting arm comprises at least three connecting rods (11), the connecting modes adopted by the adjacent connecting rods (11) are hinged or connected through universal balls, and part of the connecting rods (11) in the connecting rods (11) are of telescopic structures.
5. A hull surface cleaning apparatus according to claim 1, wherein: and a hook structure (12) is fixedly connected to the outlet and the inlet of the lifting port (6) in the circumferential direction and is used for fixing the area where the attachments on the surface of the ship body (15) are located.
6. A hull surface cleaning apparatus according to claim 1, wherein: and a supporting piece used for reducing the shaking amplitude of the case (3) and the connecting arm is arranged on one guide rail (1) adjacent to the current guide rail (1) in a sliding manner.
7. A hull surface cleaning apparatus according to claim 1, wherein: a passage (14) is formed in the case (3), the output end of the propeller (8) is located in the passage (14), the inlet end of the passage (14) is located on the side wall of the water-facing end of the case (3), and the passage (14) is gradually far away from the ship body (15) along the length direction of the passage (14) from the inlet end.
8. The method of operating a hull surface cleaning apparatus according to any one of claims 1 to 7, further comprising: the method comprises the following steps:
the method comprises the following steps: the method comprises the following steps of collecting contour data of all parts of the surface of a ship body (15), fixing a plurality of guide rails (1) at the top end of the side wall of the ship body (15), numbering each guide rail (1), keeping a connecting arm in a vertical state initially, and lowering a case (3) in a direction facing the surface of the ship body (15);
step two: operating a propeller (8) on the case (3) to enable the case (3) to start to be in contact with the ship body (15) and to be matched with the bending of the connecting arm until the lifting port (6) of the case (3) is in contact with the surface attachment of the ship body (15), and judging the thickness of the attachment layer according to the current contact area and profile data of the case (3);
step three: different cleaning implements (17) are selected according to different thicknesses.
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| CN113212686B (en) | 2024-02-20 |
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