CN113212686B - Hull surface cleaning equipment and working method thereof - Google Patents
Hull surface cleaning equipment and working method thereof Download PDFInfo
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- CN113212686B CN113212686B CN202110495558.1A CN202110495558A CN113212686B CN 113212686 B CN113212686 B CN 113212686B CN 202110495558 A CN202110495558 A CN 202110495558A CN 113212686 B CN113212686 B CN 113212686B
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- connecting arm
- hull
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- 238000004140 cleaning Methods 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000005406 washing Methods 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
- 238000000926 separation method Methods 0.000 description 3
- 241000195493 Cryptophyta Species 0.000 description 2
- 238000010586 diagram Methods 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
- 241000238586 Cirripedia Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 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
- 238000005070 sampling Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—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)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses hull surface cleaning equipment and a working method thereof, and belongs to the technical field of bottom cleaning. The multifunctional cleaning device comprises a device body and a ship body, wherein a plurality of guide rails are arranged on the top end of the side wall of the ship body in a circumferential direction, the guide rails are arranged downwards in the length direction, the device body is sequentially provided with a sliding block, a connecting arm and a machine case from top to bottom, an inner cavity of a lifting opening is provided with a limiting plate, the limiting plate is parallel to the top end face of the lifting opening, a lifting mechanism for adjusting the relative height of each cleaning box in the storage cavity is fixedly connected in the storage cavity, a PLC (programmable logic controller) for selecting different cleaning appliances is arranged on the device body, and a propeller is arranged on the side wall of the machine case back to the surface of the ship body. The invention can remove attachments on the ship body in the running process of the ship, thereby prolonging the cleaning time of the ship returning to the factory and reducing the loss in the running process of the ship.
Description
Technical Field
The invention relates to hull surface cleaning equipment and a working method thereof, and belongs to the technical field of bottom cleaning.
Background
During long-term marine operation of a ship, a large number of parasites in water can adhere to the bottom of the ship, increasing the burden of the ship, accumulating on the bottom of the ship in a large amount, being remarkable in quantity and large in mass, increasing the weight of the ship body, reducing the speed of the ship body, increasing the consumption of fuel, and the parasites (namely attachments on the surface of the ship body mentioned herein) can corrode the ship body to damage the ship body, and the ship needs to be cleaned back to the factory after every certain period of time to ensure the service life of the ship.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: a hull surface cleaning apparatus is provided which solves the problem of surface attachments of ships.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
the hull surface cleaning equipment comprises an equipment body and a hull, wherein a plurality of guide rails are arranged on the top end of the side wall of the hull in a circumferential direction, the length direction of the guide rails is downwards arranged, the equipment body is sequentially provided with a sliding block, a connecting arm and a case from top to bottom, the top end of the connecting arm is hinged with the sliding block, the bottom end of the connecting arm is fixed with the case, the connecting arm is of a bendable, telescopic and partially rotary mechanical arm structure, the shape of the connecting arm is adjusted by the connecting arm to enable the surface of the side wall of the case to be parallel to the surface of the hull, a storage cavity, a conveying pipeline and a lifting opening are sequentially arranged on the side wall of the case facing the surface of the hull from top to bottom, one end of the conveying pipeline is communicated with the side wall of the storage cavity, the other end of the conveying pipeline is communicated with the side wall of the inner cavity of the lifting opening, the length direction of the conveying pipeline is parallel to the side wall facing the hull on the case, the axis of the storage cavity and the axis of the lifting opening are perpendicular to the side wall of the chassis facing the ship body, a sensor is fixedly connected to the end face of the lifting opening, which is contacted with the surface of the ship body, a plurality of cleaning boxes are sequentially stacked in the inner cavity of the storage cavity along the axis direction of the storage cavity, the cleaning boxes synchronously move in the inner cavity of the storage cavity along the axis direction of the storage cavity, the inner cavity of the cleaning boxes is slidingly provided with a cleaning device, an inlet and an outlet connected with the inner cavity of the cleaning boxes on the side wall of the cleaning boxes are matched with the shape and the size of an inlet and an outlet of one end of the conveying pipeline, the inner cavity of the lifting opening is provided with a limiting plate, the limiting plate is parallel to the top end face of the lifting opening, a lifting mechanism for adjusting the relative height of each cleaning box in the storage cavity is fixedly connected in the storage cavity, the lifting device comprises a lifting opening, a motor, a cleaning device matching set, a PLC (programmable logic controller) and a screw, wherein the lifting opening is internally fixedly connected with the cylinder, the opening direction of the lifting opening faces the surface of the ship body, the motor is fixedly connected to the movable end of the cylinder, the cleaning device matching set is arranged at the output end of the motor, the PLC used for selecting different cleaning devices is arranged on the device body, and the screw is arranged on the side wall of the chassis, which faces away from the surface of the ship body.
As a preferred example, a plate body is hinged to the edge of the side wall surface of the case, which is opposite to the surface of the hull.
As a preferred example, a catching mechanism is also fixedly connected to the side wall of the hull, and the device body is closer to the water-facing end of the hull than the catching mechanism.
As a preferred example, the connecting arm includes at least three connecting rods, the adjacent connecting rods adopt a connection mode of hinging or connecting through universal balls, and part of connecting rods in the plurality of connecting rods are telescopic structures.
As a preferable example, the lifting port entrance and exit is fixedly connected with a hook structure in a circumferential direction and used for fixing an area where attachments on the surface of the ship body are located.
As a preferred example, a support member for reducing the shake of the chassis and the connecting arm is slidably provided on a rail adjacent to the current rail.
As a preferred example, a passage is formed in the chassis, 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 chassis, and the passage is gradually far away from the hull along the length direction of the passage from the inlet end.
The working method of the hull surface cleaning equipment is as follows: the method comprises the following steps:
step one: acquiring contour data of all parts of the surface of the 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 the connecting arm in a vertical state initially, and lowering the chassis in a direction facing the surface of the ship body;
step two: the propeller on the chassis is operated to enable the chassis to be in contact with the ship body, and the chassis is matched with the bending of the connecting arm until the lifting opening of the chassis is in contact with the attachment on the surface of the ship body, and the thickness of the attachment layer is judged according to the contact area of the current chassis and the profile data;
step three: different cleaning appliances are selected according to different thicknesses.
The beneficial effects of the invention are as follows: the invention uses the guide rail, the slide block, the connecting arm, the chassis and the like, and then matches with the contour data of the surface of the ship body to judge the actual distance of the contact point of the lifting 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 into the lifting end through the conveying pipeline, and then using the movement of the movable end of the air cylinder, wherein the output end of the motor fixed by the movable end of the air cylinder is matched and clamped with the cleaning appliance sliding into the lifting end, thereby cleaning the attachment on the surface of the ship body contacted with the current lifting end.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a chassis according to the present invention;
FIG. 3 is a schematic 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 a cleaning implement according to the present invention (illustrating a cleaning implement having a drill bit structure fixedly attached to an upper portion of a sleeve thereof);
fig. 6 is a schematic structural view of the fishing mechanism of the present invention.
In the figure: guide rail 1, slide block 2, machine case 3, storage chamber 4, conveying pipeline 5, lift mouth 6, cleaning box 7, screw 8, plate body 9, catching mechanism 10, connecting rod 11, couple structure 12, horizontal rod 13, passageway 14, hull 15, attachment layer 16, cleaning implement 17, limiting plate 18, cylinder 19, motor 20, rope 21, backing plate 22.
Detailed Description
The invention will be further described with reference to the following detailed drawings, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1-6, the hull 15 surface cleaning device comprises a device body and a hull 15, wherein a plurality of guide rails 1 are annularly arranged at the top end of the side wall of the hull 15, the length direction of each guide rail 1 is downwards arranged, the device body is sequentially provided with a sliding block 2, a connecting arm and a case 3 from top to bottom, the top end of the connecting arm is hinged with the sliding block 2, the bottom end of the connecting arm is fixed with the case 3, the connecting arm is of a bendable, telescopic and partially rotatable mechanical arm structure, the shape of the connecting arm is adjusted to enable the side wall surface of the case 3 to be parallel to the surface of the hull 15, a storage cavity 4, a conveying pipeline 5 and a lifting opening 6 are sequentially arranged at the side wall of the case 3 facing the surface of the hull 15 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 conveying pipeline 5 is communicated with the side wall of the inner cavity of the lifting opening 6, the length direction of the conveying pipeline 5 is parallel to the side wall facing the ship body 15 on the case 3, the axes of the storage cavity 4 and the lifting opening 6 are perpendicular to the side wall facing the ship body 15 on the case 3, the end surface of the lifting opening 6, which is contacted 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 inner cavity of the storage cavity 4 along the axis direction of the storage cavity, the cleaning boxes 7 synchronously move in the storage cavity 4 along the axis direction of the storage cavity 4, a cleaning device 17 is slidingly arranged in the inner cavity of the cleaning boxes 7, the shape and the size of an inlet and an outlet connected with the inner cavity of the storage box 7 are matched with those of one end of the conveying pipeline 5, a limiting plate 18 is arranged in the inner cavity of the lifting opening 6, the limiting plate 18 is parallel to the top end surface of the lifting opening 6, a lifting mechanism for adjusting the relative height of each cleaning box 7 in the storage cavity 4 is fixedly connected in the storage cavity 4, the lifting opening 6 is fixedly connected with a cylinder 19, the opening direction of the lifting opening 6 faces the surface of the ship body 15, a motor 20 is fixedly connected to the movable end of the cylinder 19, the cleaning appliance 17 is matched and arranged at the output end of the motor 20, a PLC controller for selecting different cleaning appliances 17 is arranged on the equipment body, and a propeller 8 is arranged on the side wall of the chassis 3, which faces away from the surface of the ship body 15.
It should be noted that, the guide rail 1 is detachably mounted on the hull 15, the length direction of the guide rail 1 is downward, the guide rail 1 extends downward along the surface of the side wall of the hull 15, the top of the connecting arm is hinged with the sliding block 2, in addition, the operation such as shrinkage rotation of the connecting arm appearing in the text can be implemented by arranging a crane on the hull 15, using a traction rope on the crane to be partially connected with the connecting arm, assisting the connecting arm to perform precise and controllable bending, expansion and partial rotation, configuring the connecting arm with corresponding sensors, performing precise control on the angle formed by each segment of the connecting arm and the final position of the case 3, or recording the instruction of each bending, expansion and partial rotation of the connecting arm by using a PLC controller, so as to indirectly judge the specific shape of the current connecting arm.
The sensor at the lifting opening 6 can be a pressure-sensitive sensor, and the pressure-sensitive sensor can rapidly judge where the case 3 is in contact with attachments, so as to indirectly judge the thickness of the attachments, the cleaning box 7 is used for separating different cleaning devices 17, the outside of the cleaning box 7 is in a cylindrical structure (a plurality of grooves are formed on the side wall of the cleaning box 7 in a circumferential direction, the length direction of the grooves is parallel to the axis of the cleaning box 7, a plurality of ribs are arranged on the side wall of the inner cavity of the storage cavity 4, the grooves are matched and clamped on the ribs in a sliding manner, the cleaning box 7 cannot rotate in the moving process of the inner cavity of the storage cavity 4, so that the side wall inlet and outlet 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 chute (the chute extends to the middle part of the cleaning box 7, namely the chute is communicated with the inner cavity), the cleaning appliance 17 is arranged in the chute in a matching sliding way, the lifting mechanism in the storage cavity 4 is a spring which is respectively and fixedly connected with the two ends of the inner cavity of the storage cavity 4, the two springs are in a compressed state, the free end of each spring is fixedly connected with a backing plate 22, the backing plates 22 are used for contacting with the cleaning box 7, one 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), so that one of the two cushion blocks 22 moves, and the other cushion block 22 moves synchronously, thereby ensuring that a plurality of cleaning boxes 7 between the two cushion blocks 22 move synchronously.
Namely, after the motor 20 winds or releases the rope body 21, the inlet and outlet connected with the inner cavity of the motor 7 on the side wall of one of the cleaning boxes 7 is aligned with the inlet and outlet at one end of the conveying pipeline 5, the machine case 3 is integrally turned by the connecting arm, so that the cleaning device 17 in the storage cavity 4 is positioned in the inner cavity of the lifting opening 6 through the inner cavity of the storage cavity 4 and the inner cavity of the conveying pipeline 5 under the action of gravity, at the moment, the limiting plate 18 in the inner cavity of the lifting opening 6 is in a state of separating the inner cavity of the lifting opening 6, the limiting plate 18 can be a plate body 9 and moves towards the middle part of the inner cavity of the lifting opening 6 through the side wall of the inner cavity of the lifting opening 6, or the limiting plate 18 is in a mechanical aperture structure, the cleaning device 17 moving to the inner cavity of the lifting opening 6 under the action of gravity is positioned in a space formed by the surrounding the limiting plate 18 and the inner cavity of the lifting opening 6, the movable end of the air cylinder 19 in the inner cavity of the lifting opening 6 starts to move to the position where the limiting plate 18 is located, the output end of the motor 20 on the movable end of the air cylinder 19 is matched, pressed and clamped in the middle of the cleaning device 17, the cleaning device 17 is a middle hard columnar sleeve (the motor 20 fixed on the movable end of the air cylinder 19, the output end of the motor 20 stretches into the sleeve to realize interference embedding of the output end of the motor 20 and the sleeve), a brush or an impeller or a metal shell is fixedly connected to the outer side wall of the sleeve, the cleaning device 17 is selected according to the measured approximate thickness of an attachment, and the cleaning device 17 with the brush is mostly used for processing an attachment layer with relatively small thickness; the impellers are circumferentially distributed on the sleeve, and the edges of the impellers are mostly blades, so that the impellers are used for coping with the situation that algae substances on the surfaces of attachments are more; the metal shell is fixed on the surface of the sleeve to form a drill bit structure, the drill bit structure is used for aiming at the conditions that the thickness of the attachment layer 16 is large and the hardness of the attachment is relatively large, all the storage space occupied by cleaning tools is cylindrical, then in the process that the cleaning tools 17 are transferred in the inner cavity of the storage cavity 4-the conveying pipeline 5-the lifting opening 6, the width of the inner cavity of the conveying pipeline 5 is matched with the diameter of the cleaning tools 17, the height of the inner cavity of the conveying pipeline 5 is matched with the thickness of the cleaning tools 17, after the cleaning tools 17 are moved to the lifting opening 6, the cleaning tools 17 cannot deflect, the movable end of the air cylinder 19 moves towards the direction of the limiting plate 18 positioned in the inner cavity of the separation lifting opening 6, the limiting plate 18 positioned in the inner cavity of the separation lifting opening 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 in the sleeve inner cavity in the middle of the cleaning tools 17 (namely the cleaning tools 17 are matched with the output end of the motor 20).
When the cleaning device 17 is fixedly sleeved on the motor 20, the limiting plate 18 moves to the lifting opening 6 to restore smooth, the output end of the air cylinder 19 can extend out of the chassis 3 through the lifting opening 6, the cleaning device 17 can be in contact with the attached layer 16 on the surface of the ship body 15, when the cleaning device 17 needs to be replaced, the air cylinder 19 is retracted to the inner cavity of the lifting opening 6, the bottom wall of the inner cavity of the lifting opening 6 is provided with a groove, the output end of the air cylinder 19 passes through the groove and then extends into the inner cavity of the lifting opening 6, the cross section of the cleaning device 17 is larger than the groove, after the air cylinder 19 is retracted to the groove, the cleaning device 17 is separated from the free end of the air cylinder 19, at the moment, the limiting plate 18 moves to the lifting opening 6, the connecting arm is utilized to rotate in a bending mode, the lifting opening 6 is located right above the storage cavity 4, the inlet and outlet of the side wall of the cleaning device 17 falls back into the storage cavity 4 under the action of gravity, at the moment, the inlet and outlet of the side wall of the cleaning box 7 provided with the rest cleaning device 17 is communicated with the inlet and outlet of the conveying pipeline 5, and the operation of the cleaning device 17 can be completed after the cleaning device 17 is repeatedly replaced with the input end of the motor 17.
The PLC controller equipped on the equipment body is used for recording the up-and-down moving distance of the sliding block 2 and the shape change degree on the connecting arm, the propeller 8 on the chassis 3 runs, the lifting mechanism, the limiting plate 18 and the like are controlled to select and replace the cleaning appliance 17, the propeller 8 arranged on the chassis 3 is mainly used for providing power for the chassis 3, the chassis 3 is ensured to move towards the surface of the ship body 15 independently, and the working pressure of the connecting arm (the connecting arm is longer, and the chassis 3 is inconvenient to carry out relatively powerful traction) is reduced.
The edge of the side wall surface of one side of the chassis 3, which is opposite to the surface of the ship body 15, is hinged with a plate body 9, the plate body 9 is driven by an air cylinder 19 or a motor 20 to rotate the plate body 9, the plate body 9 is used for enabling the plate body 9 to be parallel to the water facing surface by utilizing the rotation of the plate body 9 when a cleaning device 17 on the chassis 3 is clamped and embedded in an attachment layer 16, the stress of the free end of the plate body 9 is increased, and then the overall stress of the chassis 3 is improved, so that the part of the chassis 3 clamped and embedded in the attachment layer is prized.
The side wall of the ship body 15 is fixedly connected with the catching mechanism 10, the equipment body is closer to the water facing end of the ship body 15 than the catching mechanism 10, the catching mechanism 10 is of a net structure, the cleaning device 17 is prevented from falling off due to the fact that the cleaning device 17 is not firmly installed due to the resistance of a water body and the hardness factor of attachments or during initial installation, the catching mechanism 10 can recover components falling off from the machine case 3, and meanwhile small amount of sampling analysis is carried out on attachments which are partially cleaned, so that whether the cleaning device 17 in the current storage cavity 4 can complete corresponding cleaning work is judged.
The connecting arm comprises at least three connecting rods 11, the adjacent connecting rods 11 are hinged or connected through universal balls, and part of the connecting rods 11 in the plurality of connecting rods 11 are telescopic structures.
The lifting opening 6 is fixedly connected with the hook structure 12 in a circumferential direction at the inlet and outlet of the lifting opening 6 and is used for fixing an area where attachments on the surface of the ship body 15 are located, the hook structure 12 can be in direct contact with substances on the attachment layer 16 in the moving process of the machine case 3, the attachments are mainly marine algae and barnacles, the machine case 3 is pushed by the screw propeller 8 or pulled by the connecting arm to enable the lifting opening 6 to be in contact with the attachment layer 16, the lifting opening 6 is not easy to be separated from the attachment layer 16 rapidly when the lifting opening 6 is in contact with the attachment layer 16 by the hook structure 12 at the lifting opening 6, and therefore 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.
The support piece for reducing the shaking amplitude of the chassis 3 and the connecting arm is arranged on the guide rail 1 adjacent to the current guide rail 1 in a sliding manner, the support frame comprises the other connecting arm and the horizontal rod body 13, the connecting arm and the connecting arm of the current guide rail 1 are synchronously bent (the connecting arm connected with the chassis 3 can rotate during operation, the connecting arm on the support piece does not rotate), one end of the horizontal rod body 13 is fixedly connected with the chassis 3, the other end of the horizontal rod body 13 is fixedly connected with the connecting free end in the support frame, the horizontal rod body 13 provides support for the chassis 3, shaking of the chassis 3 during cleaning of attachments is reduced, and the support pressure of the mechanical arm connected with the chassis 3 is reduced.
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, the passage 14 is gradually far away from the hull 15 along the length direction from the inlet end, the inlet end of the passage 14 can be closed, and under the condition that the hull 15 moves, the part of water flowing through the passage 14 can push the case 3 into the surface of the hull 15, so that work done by the connecting arm on the case 3 can be reduced.
A method of operation of a hull 15 surface cleaning apparatus comprising the steps of:
step one: acquiring profile data of all the surfaces of the ship body 15, fixing a plurality of guide rails 1 at the top ends of the side walls of the ship body 15, numbering each guide rail 1, initially keeping a connecting arm in a vertical state, and lowering a chassis 3 in a direction facing the surfaces of the ship body 15;
step two: the propeller 8 on the chassis 3 is operated to enable the chassis 3 to be in contact with the ship body 15 and to be matched with the bending of the connecting arm until the lifting opening 6 of the chassis 3 is in contact with the attachment on the surface of the ship body 15, and the thickness of the attachment layer is judged according to the contact area of the current chassis 3 and the profile data;
step three: according to different cleaning appliances 17 with different thicknesses, the lifting mechanism is used for adjusting each cleaning box 7, the side wall inlet and outlet of one cleaning box 7 are communicated with the inlet and outlet of the conveying pipeline 5, the connecting arm is adjusted, the chassis 3 is overturned, the cleaning appliances 17 can slide out of the cleaning boxes 7 and slide to the inner cavity of the lifting opening 6 through the conveying pipeline 5, the movable end of the air cylinder 19 moves towards the limiting plate 18 under the support of the limiting plate 18 in the inner cavity of the lifting opening 6, in the moving process, the output end of the motor 20 fixedly connected with the movable end of the air cylinder 19 is embedded in the cleaning appliances 17 in a matching manner, the separation of the inner cavity of the lifting opening 6 (the support of the cleaning appliances 17) is removed by the limiting plate 18, the movable end of the air cylinder 19 starts to drive the cleaning appliances 17 to extend out of the lifting opening 6, and the surface area of the ship body 15 is cleaned.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be appreciated by persons skilled in the art that the present invention is not limited to the embodiments described above, but is capable of numerous variations and modifications without departing from the spirit and scope of the invention as hereinafter claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. Hull surface cleaning equipment, including equipment body and hull (15), its characterized in that: the side wall top end ring of the ship body (15) is provided with a plurality of guide rails (1) downwards along the length direction of the guide rails (1), the equipment body is sequentially provided with a sliding block (2), a connecting arm and a machine box (3) from top to bottom, the top end of the connecting arm is hinged with the sliding block (2), the bottom end of the connecting arm is fixed with the machine box (3), the connecting arm is of a bendable, telescopic and partially rotary mechanical arm structure, the side wall surface of the machine box (3) is parallel to the surface of the ship body (15) through shape adjustment of the connecting arm, the side wall of the machine box (3) facing the surface of the ship body (15) is sequentially provided with a storage cavity (4), a conveying pipeline (5) and a lifting opening (6) from top to bottom, one end of the conveying pipeline (5) is communicated with the side wall of the storage cavity (4), the length direction of the conveying pipeline (5) is parallel to the side wall of the ship body (15) on the machine box (3), the side wall of the storage cavity (3) facing the surface of the ship body (15) is perpendicular to the end surface of the ship body (6) on the machine box (15), the side wall of the machine box (6) is perpendicular to the end surface of the ship body (15) on the ship body (6), the utility model discloses a ship, including storage chamber (4), elevator mouth (6) inner chamber, storage chamber (4) are gone up along self axis direction in proper order to pile up in self inner chamber has a plurality of cleaning box (7), and a plurality of cleaning box (7) are in carry out synchronous movement along the axis direction of storage chamber (4) in storage chamber (4), cleaning box (7) inner chamber slip is provided with cleaning utensil (17), the access & exit that links to each other with self inner chamber on washing box (7) lateral wall with one end access & exit shape and size assorted of pipeline (5), elevator mouth (6) inner chamber is provided with limiting plate (18), limiting plate (18) are on a parallel with the top face of elevator mouth (6), the elevating system who is used for adjusting the relative height in each cleaning box (7) in storage chamber (4) is fixed connection in storage chamber (4), fixedly connected with cylinder (19) in elevator mouth (6), the opening direction of elevator mouth (6) is towards hull (15) surface, fixedly connected with motor (20) on the movable end of cylinder (19), cleaning utensil (17) cover are provided with on the output device (20) is equipped with on the surface of the propeller (8) opposite to the surface of the propeller (3.
2. A hull surface cleaning apparatus according to claim 1, wherein:
and a plate body (9) is hinged to the edge of the side wall surface of the chassis (3) on the side opposite to the surface of the ship body (15).
3. A hull surface cleaning apparatus according to claim 1, wherein:
the side wall of the ship body (15) is 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 mode adopted by the adjacent connecting rods (11) is hinged or connected through universal balls, and part of the connecting rods (11) in the plurality of connecting rods (11) are telescopic structures.
5. A hull surface cleaning apparatus according to claim 1, wherein the inlet and outlet of the lifting opening (6) are fixedly connected with a hooking structure (12) in a circumferential direction for fixing an area of attachment on the hull surface (15).
6. A hull surface cleaning apparatus according to claim 1, wherein a rail (1) adjacent to the current rail (1) is slidably provided with a support for reducing the amplitude of the shaking of the chassis (3) and the connecting arm.
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 hull (15) from the inlet end along the length direction of the passage.
8. A method of operation of a hull surface cleaning apparatus according to any of claims 1-7, characterized in that: the method comprises the following steps:
step one: acquiring contour data of all parts of the surface of the ship body (15), fixing a plurality of guide rails (1) at the top ends of the side walls of the ship body (15), numbering each guide rail (1), keeping the connecting arm in a vertical state at the beginning, and lowering the chassis (3) in a direction facing the surface of the ship body (15);
step two: the propeller (8) on the chassis (3) is operated, so that the chassis (3) is contacted with the ship body (15) and is matched with the bending of the connecting arm until the lifting opening (6) of the chassis (3) is contacted with the attachment on the surface of the ship body (15), and the thickness of the attachment layer is judged according to the contact area of the current chassis (3) and the profile data;
step three: different cleaning appliances (17) are selected according to different thicknesses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110495558.1A CN113212686B (en) | 2021-05-07 | 2021-05-07 | Hull surface cleaning equipment and working method thereof |
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| GB1294011A (en) * | 1970-04-08 | 1972-10-25 | Ronald James Fleming | Improvements in cleaning ships hulls |
| KR101472288B1 (en) * | 2014-05-15 | 2014-12-12 | 김유식 | Multifunctional ship bottom apparatus |
| KR20160028700A (en) * | 2014-09-04 | 2016-03-14 | 대우조선해양 주식회사 | Auto cleaning apparatus and method for removing marine life of hull installed in floating dock |
| CN107264740A (en) * | 2017-05-17 | 2017-10-20 | 武汉理工大学 | Ship banding pattern dirt bottom remove device |
| CN109229298A (en) * | 2018-09-11 | 2019-01-18 | 镇江麒麟船舶设备有限公司 | A kind of anti-corrosion apparatus for preventing marine organisms for ship |
| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater ship bottom cleaning device |
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| CN111993289A (en) * | 2020-09-09 | 2020-11-27 | 永康微唯智能科技有限公司 | Ship body surface rust removal and repair equipment without going to shore |
| CN111994222A (en) * | 2020-09-08 | 2020-11-27 | 刘贺 | Automatic cleaning device of hull attachment of boats and ships |
| CN112009639A (en) * | 2020-10-20 | 2020-12-01 | 烟台市芝罘区鎏福茶厂 | Hull belt cleaning device |
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| GB1294011A (en) * | 1970-04-08 | 1972-10-25 | Ronald James Fleming | Improvements in cleaning ships hulls |
| KR101472288B1 (en) * | 2014-05-15 | 2014-12-12 | 김유식 | Multifunctional ship bottom apparatus |
| KR20160028700A (en) * | 2014-09-04 | 2016-03-14 | 대우조선해양 주식회사 | Auto cleaning apparatus and method for removing marine life of hull installed in floating dock |
| CN107264740A (en) * | 2017-05-17 | 2017-10-20 | 武汉理工大学 | Ship banding pattern dirt bottom remove device |
| CN109229298A (en) * | 2018-09-11 | 2019-01-18 | 镇江麒麟船舶设备有限公司 | A kind of anti-corrosion apparatus for preventing marine organisms for ship |
| CN110588917A (en) * | 2019-10-25 | 2019-12-20 | 金龙 | Underwater ship bottom cleaning device |
| CN110979587A (en) * | 2019-12-27 | 2020-04-10 | 山东交通学院 | Treatment method for preventing ship body surface from scaling |
| CN111994222A (en) * | 2020-09-08 | 2020-11-27 | 刘贺 | Automatic cleaning device of hull attachment of boats and ships |
| CN111993289A (en) * | 2020-09-09 | 2020-11-27 | 永康微唯智能科技有限公司 | Ship body surface rust removal and repair equipment without going to shore |
| CN112009639A (en) * | 2020-10-20 | 2020-12-01 | 烟台市芝罘区鎏福茶厂 | Hull belt cleaning device |
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| CN113212686A (en) | 2021-08-06 |
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