CN114160349B

CN114160349B - Underwater dirt and paint removing and spraying device for ship

Info

Publication number: CN114160349B
Application number: CN202111441153.6A
Authority: CN
Inventors: 毕晓鹏; 王才元; 王志刚
Original assignee: Qingdao Pengsheng Marine Equipment Co ltd
Current assignee: Qingdao Pengsheng Marine Equipment Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2023-02-21
Anticipated expiration: 2041-11-30
Also published as: CN114160349A

Abstract

The invention discloses an underwater decontamination paint spraying device for a ship, which comprises a carrying carrier, a propulsion system, a decontamination system and a paint spraying system, wherein the carrying carrier is arranged on the carrying carrier; the decontamination system is used for removing attachments and rust on the surface of the ship body; the paint spraying system is used for spraying paint on the surface of a ship body and comprises a pressure-bearing sealed cabin, a water supply and drainage mechanism, a drying mechanism and a paint spraying mechanism; the pressure-bearing sealed cabin is provided with an open hatch, a sealing element is arranged on the edge of the hatch, and the hatch can be attached to the surface of the ship body through the sealing element to seal the inner cavity of the pressure-bearing sealed cabin; the water supply and drainage mechanism is used for discharging water in the pressure-bearing sealed cabin or injecting water into the pressure-bearing sealed cabin; the drying mechanism is used for blowing hot air to the surface of the ship body for drying; the paint spraying mechanism is used for spraying paint to the surface of the ship body. The decontamination and paint spraying device can decontaminate and paint the surface of the ship body underwater, and the ship can complete the maintenance and the repair work of the surface of the ship body in situ without driving into a dock.

Description

Underwater dirt and paint removing and spraying device for ship

Technical Field

The invention belongs to the technical field of ship maintenance devices, and particularly relates to a maintenance device for carrying out decontamination and paint spraying treatment on the surface of a ship body.

Background

When a ship sails in the ocean, the part in contact with the seawater can not only be affected by seawater corrosion, but also be affected by fouling of marine organisms, and a plurality of marine microorganisms can be adsorbed on the surfaces of ship bottoms, propellers, ship pipelines and other metal structures and grow and reproduce, so that serious biofouling is caused. Fouling organisms can damage the coating on the metal surface, leaving the metal bare and causing corrosion of the metal. For example: if fouling organisms with lime shells cover the metal surface, local oxygen supply on the metal surface can be changed, and oxygen concentration difference is formed to increase corrosion of the battery. Some microorganisms have a corrosion effect on metal, and if the microorganisms are attached to the ship body for a long time, the ship body can be locally perforated and leak water, so that serious potential safety hazards exist. In addition, microorganisms and dirt attached to the hull affect the speed of the ship, which leads to problems such as increased energy consumption.

In order to ensure the navigation safety and performance of the ship, after the ship navigates or is anchored for a period of time, the ship body needs to be maintained, microorganisms and dirt attached to the ship body are removed in time, the surface of the ship body is painted, and a protective coating is added to the exposed metal surface again to ensure the normal service life of the ship.

At present, when a ship is maintained, the ship is usually driven into a dock, the ship is dragged onto a slipway through a slipway, after the underwater part of the ship body is treated, the ship is dragged in the opposite direction to be launched, and the underwater part of the ship body is repaired and maintained at a ship repairing wharf. The traditional maintenance mode not only needs the ship to return to the port, but also influences the normal navigation of the ship; in addition, in order to expose the underwater part of the ship body, a special slipway and a towing device need to be designed in the dock, the structure is complex, the occupied space is large, time and labor are consumed, and the maintenance cost is extremely high.

Disclosure of Invention

The invention provides a decontamination and paint spraying device for the underwater part of a ship, which can carry out decontamination and paint spraying treatment on the surface of a ship body underwater and complete the maintenance and the maintenance work of the surface of the ship body in situ.

In order to solve the technical problems, the invention adopts the following technical scheme to realize:

an underwater decontamination paint spraying device for a ship comprises a carrier, a propulsion system for pushing the carrier to move in water, a decontamination system and a paint spraying system which are arranged on the carrier; the decontamination system is used for removing attachments and iron rust on the surface of the ship body; the paint spraying system is used for spraying paint on the surface of a ship body and comprises a pressure-bearing sealed cabin, a water supply and drainage mechanism, a drying mechanism and a paint spraying mechanism; the pressure-bearing sealed cabin is provided with an open hatch, a sealing element is arranged on the edge of the hatch, and the hatch can be attached to the surface of the ship body through the sealing element to seal the inner cavity of the pressure-bearing sealed cabin; the water supply and drainage mechanism is used for draining water in the pressure-bearing sealed cabin or injecting water into the pressure-bearing sealed cabin; the drying mechanism is used for blowing hot air to the surface of the ship body for drying; the paint spraying mechanism is used for spraying paint to the surface of the ship body.

In some embodiments of the present application, in order to keep the painting mechanism dry, a protection plate is installed in the pressurized capsule, the protection plate divides the inner cavity of the pressurized capsule into an open area and a closed area, and the hatch is located in the open area; the protective plate is provided with a nozzle access hole, a flexible sealing gasket with a cutting seam is arranged in the nozzle access hole, and the flexible sealing gasket blocks the nozzle access hole to block the water body in the open area from flowing to the closed area; the paint spraying mechanism comprises a paint sprayer which is arranged in the closed area, and the position of the paint sprayer is opposite to the nozzle access hole on the protection plate; and a driving mechanism is arranged in the closed area and used for driving the protection board or the paint sprayer to move so as to enable the paint sprayer to penetrate through the cutting seam of the flexible sealing gasket to enter the open area and spray paint on the surface of the ship body, and after the paint spraying is finished, the paint sprayer penetrates through the cutting seam of the flexible sealing gasket to return to the closed area.

In some embodiments of the present application, the drying mechanism includes a hot air nozzle, preferably mounted on the protective plate, and located in the open area for blowing hot air to the surface of the ship body for drying.

In some embodiments of the present application, the hot air nozzle is connected to a hot air supply system through an air hose, a mechanical check valve is installed on the hot air nozzle, and a temperature and humidity sensor may be installed in the open area in order to automatically perform a drying process; the hot air supply system conveys hot air to a hot air nozzle, and when the pressure of the hot air is greater than the opening pressure of the mechanical one-way valve, the mechanical one-way valve is automatically opened, so that the hot air is sprayed out through the hot air nozzle to dry the surface of the ship body; and when the temperature and humidity of the open area are detected to meet the index requirements of the paint spraying environment through the temperature and humidity sensor, the hot air supply system stops supplying air, the mechanical one-way valve is automatically closed, and the drying process is finished.

In some embodiments of the present application, in order to increase the painting area of a single nozzle and ensure the uniformity of the painted surface, it is preferable to provide a nozzle oscillator in the painting mechanism, mounted on the protection plate, for controlling the oscillation of the paint nozzle passing through the slit of the flexible sealing gasket into the open area; the paint sprayer is connected with a paint pump through a paint pipe, and the paint pump is communicated with a paint bucket.

In some embodiments of the present application, it is preferable to design the pressurized capsule as a cylinder with only one end open, the opening forming the hatch; in order to facilitate the installation of the sealing element, a circle of groove is preferably formed on the edge of the hatch, and a through hole is formed in the groove; the sealing element is preferably an O-shaped air bag, the sealing element is arranged in the groove, and a pressure-bearing hose connected with the O-shaped air bag can pass through the through hole to be connected with an air supply and exhaust device; the protection plate is preferably designed into a circular plate, is coaxially installed with the cylindrical pressure-bearing sealed cabin, and has waterproof and sealed edges so as to prevent water from flowing into the sealed area from the edges of the protection plate.

In some embodiments of the present application, in order to avoid the pressure-bearing sealed cabin from being damaged due to the change of the internal air pressure thereof, a pressure difference protection mechanism is preferably arranged in the pressure-bearing sealed cabin, and specifically comprises a pressure difference sensor, a vent pipe, an electromagnetic valve and a control mechanism; the pressure difference sensor is preferably arranged in an opening area of the pressure-bearing sealed cabin and used for detecting the pressure difference between the opening area and the outside of the pressure-bearing sealed cabin; the vent pipe is used for communicating the open area with the atmosphere; the electromagnetic valve is connected with the vent pipe and used for controlling the on-off of the vent pipe; the control mechanism can control the electromagnetic valve to open and close according to the pressure difference detected by the pressure difference sensor, so that the pressure of the open area of the pressure-bearing sealed cabin and the pressure outside the cabin can be always kept in a safe pressure difference range.

In some embodiments of the present application, the propulsion system includes a water jet, a tilt sensor, and a range finder; the water-jet propellers are preferably arranged in plurality and are arranged on the outer wall of the pressure-bearing sealed cabin; each water-jet propeller is provided with a direction driver for changing the water-jet direction of the water-jet propeller so as to push the whole device to move forward, backward, dive, float up or rotate; the inclination angle sensor is arranged on the carrying carrier or in a pressure-bearing sealed cabin and is used for detecting the rotation angle of the device; the travel distance meter is arranged on the carrying carrier or in a pressure-bearing sealed cabin and is used for detecting the travel distance of the carrying carrier along the surface of the ship body when the decontamination system runs; and when the travel distance reaches the size of a hatch of the pressure-bearing sealed cabin, controlling the carrier to stop the current travel process through the water jet propeller, and starting the paint spraying system to execute the paint spraying process.

In some embodiments of the present application, in order to improve the decontamination capability, it is preferable to provide a high-pressure jet cavitation nozzle, a nozzle oscillator, and a high-pressure water pump in the decontamination system; the device comprises a plurality of high-pressure jet cavitation nozzles, a plurality of water outlets and a plurality of control valves, wherein the high-pressure jet cavitation nozzles are preferably arranged, each nozzle is provided with two water outlets in opposite directions, one water outlet is used for spraying high-pressure cavitation water to the surface of a ship body, and the other water outlet is used for spraying the high-pressure cavitation water to generate a reaction force so as to keep the device balanced; the spray head oscillator is arranged on the carrying carrier and is used for controlling the high-pressure jet flow cavitation spray head to oscillate so as to increase the decontamination area; the high-pressure water pump is installed on the carrying carrier and used for pumping seawater and pumping the seawater to the high-pressure jet cavitation spray head so as to generate high-pressure cavitation water.

In some embodiments of the present application, in order to improve the painting quality, it is preferable to further mount a polishing system on the carrier, the polishing system being disposed between the decontamination system and the pressurized capsule; the polishing system is preferably provided with a rolling brush and a watertight motor, wherein the rolling brush can be arranged on the carrying carrier and is provided with a flexible rotating shaft, and a needle brush is distributed on the flexible rotating shaft, so that the rolling brush can be properly bent, not only can be used for polishing the straight surface of the ship body, but also can be tightly attached to the arc-shaped surface of the ship body, and the technical effect of effective polishing is achieved; the watertight motor is preferably arranged on the carrying carrier, is connected with the flexible rotating shaft through a transmission piece and is used for driving the rolling brush to rotate so as to polish the surface of the ship body.

Compared with the prior art, the invention has the advantages and positive effects that: the special decontamination paint spraying device is designed for the underwater part of the ship, and the propulsion system is arranged in the device, so that the device can be controlled to freely move underwater and keep balance; by arranging the decontamination system, attachments and rust on the surface of the ship body can be automatically removed; by arranging the paint spraying system, the underwater surface of the ship body can be automatically sprayed with paint, so that the aim of maintenance is fulfilled. The underwater decontamination paint spraying device has the advantages of high automation degree, simple operation and convenient use, and adopts a zero-buoyancy design as a whole, thereby enhancing the flexibility of the operation of the device. The underwater decontamination and paint spraying device can be used for maintaining the ship, the decontamination, polishing and paint spraying operations of the ship bottom and the ship board underwater part can be completed in situ without driving the ship into a dock, and a large amount of maintenance cost can be saved.

Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view showing the overall structure of an embodiment of an underwater paint spray apparatus for a ship according to the present invention;

FIG. 2 is a front perspective view of the underwater paint cleaning and spraying apparatus shown in FIG. 1;

FIG. 3 is a perspective view of the underwater paint cleaning and spraying apparatus shown in FIG. 1;

FIG. 4 is a schematic view of the structure of the inside of the closed zone of the pressurized capsule;

FIG. 5 is a schematic block diagram of an embodiment of an abatement system;

fig. 6 is a schematic circuit block diagram of an embodiment of an electric control part of the underwater decontamination paint spraying device provided by the invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", "top", "bottom", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that in the description of the present invention, the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise specifically indicated and limited. For example, it may be a fixed connection, a detachable connection or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1, the underwater paint cleaning and spraying apparatus of the present embodiment mainly performs maintenance and repair work on the underwater portion of the ship, for example, performs surface cleaning, polishing, spraying, and the like on the bottom portion of the ship and the underwater portion of the side of the ship, and may specifically include a carrier 100, a cleaning system 200, a polishing system 300, a spraying system 400, a propulsion system 500, and other main components.

The carrier 100 serves as a support carrier of the entire device, and is mainly used for supporting and fixing other components in the device to form a whole. As shown in fig. 2, the carrier 100 of this embodiment is preferably configured as a portal frame structure including two

vertical side panels

110, 120 and a horizontal or curved top panel 130. A plurality of rollers may be respectively mounted on the two

vertical side plates

110, 120, for example, one

roller

111, 112, 121, 122 is respectively mounted on an upper position and a lower position of each

vertical side plate

110, 120, so that when the device walks along the surface of the ship hull, the device can contact the surface of the ship hull through the

rollers

111, 112, 121, 122, and the walking process of the device is more stable and smooth.

An electrical box 140 may be disposed on the carrier 100, preferably between the two

vertical side panels

110, 120, and positioned horizontally. The electrical box 140 should be designed as a waterproof and pressure-resistant closed box, a power panel and a control mechanism may be embedded in the electrical box, and a plurality of watertight sockets 142 may be disposed on the front panel 141 of the electrical box 140 for plugging power plugs and communication interfaces.

In this embodiment, the power required for the device may be supplied underwater from above water through a cable, or self-powered by a power source disposed directly in the electrical box 140. The power strip converts the power supplied by the marine or self-contained power source into the operating power required by the various electrical loads carried on the carrier 100 and transmits the power to the various watertight sockets 142. Each consumer load on carrier 100 may be powered by plugging its power plug into a watertight receptacle 142 of electrical enclosure 140 to perform its intended function. The sampling signals or control signals required to be transmitted between the control mechanism and different loads can also be transmitted in a mode of externally inserting a communication cable through a communication interface, so that the wiring design of the device is facilitated.

In this embodiment, the decontamination system 200 is used for removing dirt such as adhesion and rust on the surface of the ship body, and may be mounted on the carrier 100 through a mounting rack 143. As shown in fig. 2, the shelf 143 may be installed between the two

vertical side plates

110 and 120 and horizontally arranged. As a preferred embodiment, the placement frame 143 is preferably arranged close to and below the top plate 130 of the carrier 100.

In order to improve the dirt removing ability, the dirt removing system 200 preferably sprays high-pressure bubble water to effectively remove the attachments and rust on the surface of the ship, and mainly includes a high-pressure jet bubble spraying head 210, a spraying head oscillator 220, a high-pressure water pump 230, and the like, as shown in fig. 5.

The high-pressure jet cavitation nozzle 210 mainly comprises a nozzle 211 and a bubble making cavity 212, and the nozzle 211 and the bubble making cavity 212 are connected in a sealing mode through threads. The inner part of the bubble making cavity 212 is an elliptical tube, the inside of the elliptical tube is of a rifling structure, and the inlet is thick and the outlet is thin. The inlet and outlet of the cavity are respectively provided with a linear high-strength separation net, when high-pressure water of 1.5-2.0 Mpa is injected into the foam making cavity 212, the high-pressure water firstly rubs against the separation net at the inlet, then enters the foam making cavity 212 to rotate and flow at an accelerated speed, then passes through the separation net at the outlet of the foam making cavity 212 to form fine high-pressure foam water, and finally is injected at a high speed through the nozzle 211. When 1.5-2.0 Mpa high-pressure cavity water is sprayed on the surface of the ship body, the high-pressure cavity water flow expands and explodes at a high speed, and then the pollutants such as microorganisms, iron rust and the like attached to the surface of the ship body are stripped, so that the aim of removing the pollutants is fulfilled.

When the spray head 211 sprays high-pressure bubble water to the surface of the ship body, the spray head 211 can receive large reverse thrust, so that the balance is removed in a volatile manner, and the normal operation of decontamination is influenced. In order to solve this problem, in this embodiment, it is preferable to provide two

water outlets

213 and 214 on the nozzle 211 in opposite directions, as shown in fig. 3 and 5, one of the water outlets 213 is used to spray high-pressure bubble water to the surface of the ship body, and the other water outlet 214 sprays high-pressure bubble water to generate a reaction force, so that the two forces are offset, and the adverse effect on the balance of the device can be eliminated.

In this embodiment, the high pressure water pump 230 is preferably a micro high pressure water pump, and is mounted on the mounting rack 143, and when operating, the high pressure water pump can directly pump seawater in the sea area where the ship is located, and after pressurizing, generate high pressure water of 1.5 to 2.0Mpa, and pump the high pressure water to the foam making cavity 212 of the high pressure jet cavitation nozzle 210 through the water outlet of the high pressure water pump 230 and the high pressure resistant hose. In order to prevent foreign matters in the seawater from blocking the water pump, a filter screen may be disposed at the water inlet of the high pressure water pump 230 to filter impurities in the seawater. A pressure tight wired plug may be provided on the pump body of the high pressure water pump 230, which plug is sealingly connected to a watertight socket 142 on the electrical box 140 to provide power supply to the high pressure water pump 230 and to receive control signals.

As a preferred embodiment, a plurality of high-pressure jet cavitation nozzles 210 may be arranged in the abatement system 200, as shown in fig. 2, with a separate micro high-pressure water pump 230 being provided for each high-pressure jet cavitation nozzle 210. All the high-pressure water pumps 230 and the high-pressure jet cavitation nozzles 210 are transversely arranged and are sequentially arranged on the arrangement frame 143, the nozzle oscillator 220 is arranged on the arrangement frame 143, and all the high-pressure jet cavitation nozzles 210 are driven by the nozzle oscillator 220 to transversely oscillate within a certain angle range, such as transversely oscillate by 30 degrees, so that the decontamination area of a single nozzle is increased, and the decontamination efficiency of the device is improved.

In this embodiment, the nozzle oscillator 220 may be composed of a watertight motor and a displacement crankshaft, and is mounted on the mounting bracket 143 through a locking connection mechanism.

After the ship surface is decontaminated, in order to improve the painting effect, the polishing system 300 is arranged in the device, and the ship surface is further polished to improve the adhesion of paint on the ship. In this embodiment, the polishing system 300 may be disposed below the desmear system 200 so as to enter the polishing process immediately after the desmear process is finished.

As shown in fig. 2, the polishing system 300 of the present embodiment mainly includes a watertight motor 310, a rolling brush 320, a connecting member 330, and the like. The watertight motor 310 may be mounted on the side plate 120 of the carrier 100 through a mounting bracket, and may be coupled to the roller brush 320 through a transmission member 330 to provide power for the roller brush 320 to rotate rapidly.

In this embodiment, the rolling brush 320 is preferably transversely installed between the two

side plates

110, 120 of the carrier 100 and is located right below the high-pressure jet cavitation nozzle 210 for rubbing the surface of the ship hull for polishing.

As a preferred embodiment, the rotating shaft of the rolling brush 320 is preferably a flexible rotating shaft, one end of which is flexibly connected to the rotating shaft of the watertight motor 310 through a connecting member 330, and the other end of which is fixed to the side plate 110 of the carrier 100 through a bearing 331. The flexible rotating shaft is provided with a flexible needle brush which is cylindrical as a whole. When the rolling brush 320 rotates rapidly, the flexible rotating shaft can be bent and deformed to a certain degree, and when the rolling brush 320 meets the surface of a straight ship body, the rolling brush 320 can keep a straight state to polish the surface of the ship body; when the rolling brush 320 is in rolling contact with the surface of the ship body, the rolling brush is automatically deformed into an arc shape according to the curved shape of the surface of the ship body, so that the rolling brush is tightly attached to the surface of the ship body, effectively rubs the surface of the ship body, and achieves an ideal polishing effect.

A painting system 400 may be disposed under the finishing system 300 for painting the finished hull surface.

As a preferred embodiment, the electrical box 140 may be disposed between the polishing system 300 and the painting system 400 to facilitate the nearby plugging of the watertight socket 142 with different electrical loads.

Referring to fig. 1 to 4, the painting system 400 of the present embodiment is mainly composed of a pressurized cabin 410, a water supply and drainage mechanism, a drying mechanism, and a painting mechanism.

Wherein, the pressurized sealed cabin 410 can be installed between the two

side plates

110, 120 of the carrier 100 and is positioned right below the electrical box 140 for providing a closed space environment for ship painting.

In the present embodiment, the pressurized capsule 410 is preferably configured as a transverse cylinder with only one open end, as shown in FIG. 2. Said opening, called hatch 411, is directed forwards, i.e. in the direction of the hull when the device is in operation. A seal 412 is arranged at the edge of the hatch 411 for sealing the inner cavity of the pressure-bearing sealed cabin 410 when the hatch 411 is in engagement with the surface of the hull.

In a preferred embodiment, the sealing element 412 is preferably an O-ring type balloon that is inflated and deflated to achieve the sealing and unsealing effects. In order to reliably mount the O-shaped airbag to the hatch 411 of the pressure-bearing sealed cabin 410, it is preferable that a circle of semicircular groove is formed along the edge of the hatch 411, a through hole is formed in the groove, the O-shaped airbag is mounted in the groove, and a pressure-bearing hose connected to the O-shaped airbag passes through the through hole formed in the groove and out of the pressure-bearing sealed cabin 410 to be connected to an air supply and exhaust device. The air supply and exhaust device may be placed on the water surface, for example on the deck of a ship, for inflating or exhausting the O-bag. The O-shaped air bag is used as the sealing member 412, so that the arc-shaped part of the large ship body can be effectively sealed.

In the present embodiment, a protection plate 413 having a thermal insulation capability is disposed in an inner cavity of the pressure-bearing sealed cabin 410, so as to divide the inner cavity of the pressure-bearing sealed cabin 410 into two regions, which are respectively defined as an open region 414 and a closed region 415, as shown in fig. 2 and 4.

As a preferred embodiment, the protection plate 413 is preferably designed as a circular plate, and is coaxially assembled with the cylindrical pressure-bearing sealed cabin 410, and divides the cylindrical inner cavity of the pressure-bearing sealed cabin 410 into a front cabin body and a rear cabin body in the axial direction. Wherein, the front cabin, i.e. the cabin where the hatch 411 is located, forms an open area 414 which is communicated with the outside; the rear compartment forms an enclosure 415 isolated from the environment. The circular edge of the protection plate 413 is subjected to waterproof sealing treatment to prevent seawater from entering the sealed area 415 from the joint part of the protection plate 413 and the inner wall of the pressure-bearing sealed cabin 410.

In the present embodiment, a water supply and drainage mechanism is provided in the pressurized cabin 410 for discharging seawater in the open area 414 or injecting water into the open area 414. As a preferred embodiment, a water injection pump 421 and a water discharge pump 422 may be provided in the water supply and discharge mechanism, preferably arranged outside the pressure-bearing sealed cabin 410, and communicated with the open area 414 of the pressure-bearing sealed cabin 410 through a pressure-bearing water pipe 423.

In order to prevent the drain pump 422 from vacuuming the inner cavity of the pressure-containing sealed chamber 410 when the drain pump is performing the draining operation on the open area 414 of the pressure-containing sealed chamber 410, the present embodiment preferably includes a differential pressure protection mechanism to regulate the air pressure environment in the open area 414. As shown in fig. 2 and fig. 6, a differential pressure sensor 424 may be installed in the open area 414 of the pressure-bearing sealed cabin 410, and is used for detecting a pressure difference between the open area 414 and the outside of the pressure-bearing sealed cabin 410, generating a differential pressure signal, and sending the differential pressure signal to a control mechanism in the electrical box 140. A through hole is formed in the wall of the pressure-bearing sealed cabin 410, a vent pipe is installed in the through hole, and the through hole is sealed. One end of the vent pipe is communicated with the open area 414, and the other end extends out of the water surface and is communicated with the atmosphere. An electromagnetic valve can be installed on the vent pipe, and when the control mechanism detects that the pressure difference exceeds a set threshold value, the electromagnetic valve is controlled to be opened to balance the pressure in the open area 414, so that the pressure-bearing sealed cabin 410 is protected.

After the seawater in the open area 414 is drained, the drying mechanism needs to be activated to dry the hull surface to provide a suitable painting environment.

The drying mechanism of the embodiment mainly comprises a temperature and humidity sensor 431, a hot air spray head 432, a hot air supply system and the like. The temperature and humidity sensor 431 is preferably installed on the wall of the open area 414, as shown in fig. 1, and is configured to detect temperature and humidity parameters in the open area 414, generate a temperature and humidity signal, and send the temperature and humidity signal to a control mechanism in the electrical box 140, so as to determine whether the index requirement of the paint spraying environment is met, as shown in fig. 6.

Among them, a plurality of hot air spray heads 432 are preferably arranged, are respectively installed on the protection plate 413, and are located in the open area 414, so as to blow hot air to the surface of the ship body for drying.

As a preferred embodiment, an air hose (not shown) with thermal insulation and pressure bearing capability can be arranged in the sealing area 415 of the pressure bearing sealed cabin 410. A plurality of branches can be formed at one end of the air hose and respectively connected with the plurality of hot air spray heads 432 in a one-to-one correspondence manner; the other end of the air hose is passed out from the bottom 418 of the pressurized cabin 410 (the water-tight part is passed out), and extended to the water surface to be connected to a hot air supply system placed on the deck of the ship. An electric cabinet communicated with an underwater control mechanism can be arranged on the deck to control the working state of each electric load placed on the water surface, and the established function is completed.

In this embodiment, a mechanical check valve may be further installed on each hot air nozzle 432, and after the hot air supply system heats the atmosphere through the low-pressure air heater, low-pressure hot air is generated and pumped into the air hose. When the pressure of the low-pressure hot air in the air hose is greater than the opening pressure of the mechanical one-way valve, the mechanical one-way valve is automatically opened, and the low-pressure hot air is sprayed out through the hot air spray nozzle 432 and blown to the ship body to dry the surface of the ship body. When the control mechanism detects that the temperature and the humidity in the open area 414 reach the index requirements of the paint spraying environment through the temperature and humidity sensor 431, the hot air supply system is controlled to be closed, and air supply is stopped. At this time, the mechanical check valve can be automatically closed, and the drying process is finished.

After the surface of the ship body is dried, the painting process can be carried out.

In the present embodiment, the paint spraying mechanism is provided with main components such as a paint spray head 441, a spray head oscillator 442, and a paint pump. The paint spray heads 441 are installed in the closed area 415 of the pressure-bearing sealed cabin 410, and preferably a plurality of paint spray heads are arranged and correspondingly connected with the branch metal paint pipes. The branch metal paint pipe is connected with the pressure-bearing paint pipe, the pressure-bearing paint pipe extends out of the water surface and is connected with a paint pump, and the paint pump is communicated with a paint bucket. The paint pump and the paint bucket can be placed on a deck of the ship for use.

A nozzle access hole 416 is specially formed on each paint spray nozzle 441 on the protection plate 413 in the pressure-bearing sealed cabin 410, and the forming positions of the nozzle access holes are opposite to the mounting positions of the paint spray nozzles 441 as shown in fig. 1. An embedded O-ring seal and flexible gasket 417 may be installed in each nozzle access hole 416 to seal off the nozzle access hole 416 and prevent seawater in the open area 414 from flowing to the closed area 415.

In this embodiment, a slit is formed on the flexible sealing pad 417, for example, a cross-shaped slit is formed in the middle of the flexible sealing pad 417, as shown in fig. 1, so that the paint sprayer 441 can protrude from the slit into the open area 414. A conical opening may be formed in the lower portion of the flexible sealing 417, which is shaped to fit the outer profile of the paint nozzle 441, as shown in fig. 4, so that a watertight seal is formed between the paint nozzle 441 and the flexible sealing 417.

The nozzle oscillator 442 may be mounted on the protection plate 413, as shown in fig. 1 and 2, and preferably, a nozzle oscillator 442 is specially configured for each paint nozzle 441, when the paint nozzle 441 performs a painting operation on a surface of a ship hull, the nozzle oscillator 442 may control the paint nozzle 441 to swing within a certain angle range, for example, to swing up and down by 30 ° and to swing left and right by 30 °, so as to increase a painting area and enable a paint surface formed on the surface of the ship hull to be more uniform and flat.

To enable the paint spray head 441 to pass through or retract from the nozzle access opening 416, a drive mechanism 450, as shown in fig. 4, may be provided within the enclosure 415 of the pressurized pod 410 to drive displacement of the protective plate 413 or paint spray head 441.

As a preferred embodiment, the driving mechanism 450 may be composed of a watertight motor, a transmission gear, and a main screw. Wherein, the watertight motor can be installed on the bottom 418 of the pressure-bearing sealed cabin 410, the output shaft of the watertight motor is connected with the transmission gear, the transmission gear is meshed with the main screw, and the top end of the main screw is connected to the protection plate 413. When the watertight motor drives the transmission gear to rotate, the main screw rod moves horizontally, the protection plate 413 is driven to move towards the cylinder bottom 418 of the pressure-bearing sealed cabin 410, and the paint spray head 441 penetrates out of the nozzle access hole 416; or the protection plate 413 is driven to move towards the hatch 411 of the pressure-bearing sealed cabin 410, so that the paint spray head 441 returns to the sealed area 415 and is hidden in the conical opening area of the flexible sealing gasket 417, as shown in the position relation of fig. 4. The paint spray head 441 is hidden in the conical opening area of the flexible sealing gasket 417, so that the sealing performance is favorably improved, the axial dimension of the pressure-bearing sealed cabin 410 can be shortened as much as possible, the whole size of the device is favorably optimized, and the flexibility of the device in movement in seawater is improved.

In order to enable the device of the present embodiment to freely move underwater, the present embodiment is further provided with a propulsion system 500, which mainly includes a water jet, an inclination sensor, a distance measuring device, and the like.

Wherein, the water jet propeller can be arranged on the carrying carrier 100 or the pressure-bearing sealed cabin 410 and is used for pushing the device to advance, retreat, submerge, float up or rotate in water. As a preferred embodiment, a plurality of the water jet propellers are preferably arranged and mounted on the outer wall of the pressure-bearing sealed cabin 410, as shown in fig. 3, for example, three water jet propellers 510 may be respectively arranged on the top surface and the bottom surface of the outer wall of the pressure-bearing sealed cabin 410, two water jet propellers 510 may be arranged on one side of the left and right sides of the outer wall of the pressure-bearing sealed cabin 410, and three water jet propellers 510 may be arranged on the other side, as shown in fig. 1. A direction driver is respectively installed on each water jet 510 for changing the water jet direction of the water jet 510, so that the water jet 510 can make a direction change of 180 °.

The tilt angle sensor and the range finder may be installed on the carrier 100 or in the pressure-bearing sealed cabin 410, so as to detect the rotation angle of the device and the travel distance along the surface of the ship body, generate a corresponding detection signal, and send the detection signal to the control mechanism in the electrical box 140, and complete the automatic decontamination, polishing and painting operations under the coordination control of the control mechanism, as shown in fig. 6.

The carrier 100 can be further provided with a micro-optical camera for shooting site images and transmitting the images back to a display screen above water so as to realize real-time monitoring of overwater operating personnel on the underwater environment.

The specific operation of the underwater paint removal and spray painting apparatus of the present embodiment will be described in detail with reference to fig. 1 to 6.

The underwater decontamination paint spraying device of the embodiment adopts an underwater zero-buoyancy design, and can be thrown into the sea or recycled by using the cable winding and unwinding device.

Two modes of operation can be configured for the device: one mode is a full-automatic working mode, namely, the device automatically finishes the operations of decontamination, polishing and paint spraying on the underwater part of the surface of the ship body underwater, and an operator can observe the operation condition of the device underwater through the micro-optical camera at any time and timely stop or adjust the working state of the device; the other mode is a manual working mode, namely, a remote controller is configured for the device, and as shown in fig. 6, an operator operates the remote controller control device to complete the decontamination, polishing and paint spraying operations of the ship bottom and the ship side underwater part step by step. For parts with special structures such as the bow and the stern, the operations of decontamination, polishing and paint spraying can be finished by divers by utilizing special-shaped devices.

After the device enters the working mode, the water jet propeller 510 is started to push the device to the ship body firstly until the device is pushed to the preset position (a position sensor can be configured to detect the relative distance between the device and the ship body), and the control mechanism starts the decontamination system 200 and the polishing system 300 to operate to decontaminate and polish the surface of the ship body. The water jet 510 pushes the device up along the hull surface and records the device's distance of travel using a range finder. When the travel distance reaches the size of the hatch 411 of the pressurized cabin 410 (e.g. the diameter of a circular hatch), the waterjet 510 control device stops the current travel process, entering the preparation phase before painting. At this time, the decontamination system 200 and the polishing system 300 stop operating, the air supply and exhaust device is started to inflate the O-shaped airbag 411 arranged at the hatch 411 of the pressure-bearing sealed cabin 410, and the water jet propeller 510 is controlled to generate lifting force and thrust force towards the hull surface to the device, so that the hatch 411 of the pressure-bearing sealed cabin 410 is tightly attached to the hull surface through the O-shaped airbag 411, and the open area 414 of the pressure-bearing sealed cabin 410 is closed.

The control mechanism activates the drain pump 421 to draw the water in the open area 414 until it is dry. In the process, the pressure-bearing sealed cabin 410 and the O-shaped air bag 411 are firmly pressed on the surface of the ship body by surrounding seawater, and a closed space environment is created for paint spraying operation.

Then, the control mechanism starts the drying mechanism to operate, low-pressure hot air is sprayed to the surface of the ship body through the hot air spray head 432, and the drying degree of the surface of the ship body is detected through the temperature and humidity sensor 431 until the moisture on the surface of the ship body is dried.

In the processes of draining and drying, the differential pressure protection mechanism is always in a standby state and is started to operate at any time for ventilation, so that the pressure difference between the inner cavity of the pressure-bearing sealed cabin 410 and the pressure outside the cabin is always kept in a safe range.

After the temperature and humidity in the pressure-bearing sealed cabin 410 meet the requirement of paint spraying, the drying mechanism is closed, the driving mechanism 450 is started to operate, the protection plate 413 is controlled to move towards the direction of the cylinder bottom 418, and the paint spray head 441 penetrates out of a nozzle outlet 416 formed in the protection plate 413 and enters the open area 414.

Then, the control mechanism starts the paint spraying pump to pump the paint and spray the paint to the surface of the ship body through the paint spray head 441, and the paint spraying operation is completed. During this period, the control mechanism simultaneously activates the head oscillator 442 to operate, driving the paint spray head 441 up, down, left, and right.

After the paint spraying operation is finished, the control mechanism starts the driving mechanism 450 to push the protection plate 413 to move towards the hatch 411, so that the paint spray head 441 returns to the closed area 515. And then, the control mechanism starts the drying mechanism to operate again to blow dry the paint on the surface of the ship body.

The control mechanism can detect the drying degree of the paint surface by using the temperature and humidity sensor 431, and after the paint is dried, the control mechanism starts the water injection pump 422 to inject water into the open area 414 of the pressure-bearing sealed cabin 410 and simultaneously starts the air supply and exhaust device to exhaust the air in the O-shaped air bag 411. When the internal and external pressures of the pressurized capsule 410 are balanced, the pressurized capsule 410 is automatically separated from the hull.

Then, the control mechanism controls the water jet propeller 510 to push the device to move upwards continuously along the surface of the ship body, and the device enters the next operation flow of decontamination, polishing and paint spraying, and the maintenance operation is continuously carried out on other parts of the surface of the ship body.

In this embodiment, the underwater walking track of the device may be preset, and the program is written to the control mechanism, so that the control mechanism controls the device to walk underwater according to the preset track until all the operation processes are completed.

In this embodiment, the decontamination system, the polishing system and the painting system are integrally designed on the carrier 100, so that the continuous operation of decontamination, polishing and painting can be completed, and the carrier can be used alone, and only one or more operations can be performed, thereby expanding the application range of the device.

Of course, the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An underwater desmear painting device for a marine vessel, comprising:

carrying a carrier;

a propulsion system for propelling the carrier to move through the water;

the decontamination system is arranged on the carrying carrier and is used for removing attachments and rust on the surface of the ship body;

a painting system mounted on the carrier for painting the surface of the ship, comprising:

the pressure-bearing sealed cabin is provided with an open hatch, a sealing element is arranged on the edge of the hatch, and the hatch can be attached to the surface of the ship body through the sealing element to seal the inner cavity of the pressure-bearing sealed cabin; a protection plate is arranged in the pressure-bearing sealed cabin, the protection plate divides the inner cavity of the pressure-bearing sealed cabin into an open area and a closed area, and the hatch is positioned in the open area; a nozzle access hole is formed in the protection plate, a flexible sealing gasket with a cutting seam is installed in the nozzle access hole, the flexible sealing gasket blocks the nozzle access hole, and the water in the open area is blocked from flowing to the closed area;

the water supply and drainage mechanism is used for discharging water in the pressure-bearing sealed cabin or injecting water into the pressure-bearing sealed cabin;

a drying mechanism for blowing hot air to the surface of the ship body for drying;

the paint spraying mechanism is used for spraying paint to the surface of the ship body and comprises a paint spray head, the paint spray head is arranged in the closed area, and the position of the paint spray head is opposite to the position of the nozzle access hole on the protection plate;

and a driving mechanism is arranged in the closed area and used for driving the protection board or the paint sprayer to move so as to enable the paint sprayer to penetrate through the cutting seam of the flexible sealing gasket to enter the open area and spray paint on the surface of the ship body, and after the paint spraying is finished, the paint sprayer penetrates through the cutting seam of the flexible sealing gasket to return to the closed area.

2. The underwater paint spraying apparatus for ships according to claim 1, wherein the drying means includes a hot air nozzle installed on the protection plate and located at the open area for blowing hot air to the surface of the ship body for drying.

3. The underwater desmear painting device for marine vessels according to claim 2,

the hot air nozzle is connected with a hot air supply system through an air hose, a mechanical one-way valve is mounted on the hot air nozzle, and a temperature and humidity sensor is mounted in the opening area;

the hot air supply system conveys hot air to a hot air spray head, and when the pressure of the hot air is greater than the opening pressure of a mechanical one-way valve, the mechanical one-way valve is opened to enable the hot air to be sprayed out through the hot air spray head; and when the temperature and humidity of the open area are detected by the temperature and humidity sensor to meet the index requirement of the paint spraying environment, the hot air supply system stops supplying air, and the mechanical one-way valve is closed.

4. The underwater paint cleaning and spraying apparatus for ships according to claim 1, wherein a nozzle oscillator is provided in the paint spraying mechanism, installed on the protection plate, for controlling oscillation of the paint nozzle penetrating the slit of the flexible sealing gasket into the open area; the paint sprayer is connected with a paint pump through a paint pipe, and the paint pump is communicated with a paint bucket.

5. The underwater paint removal apparatus for a ship according to claim 1,

the pressure-bearing sealed cabin is cylindrical and only has one open end, and the hatch is formed at the open end; a circle of groove is formed at the edge of the hatch, and a through hole is formed in the groove;

the sealing element is an O-shaped air bag and is arranged in the groove, and a pressure-bearing hose connected with the O-shaped air bag penetrates through the through hole to be connected with an air supply and exhaust device;

the protection plate is a circular plate, is coaxially arranged with the cylindrical pressure-bearing sealed cabin, and has waterproof and sealed edges.

6. The underwater desmear painting apparatus for marine vessels of claim 1, wherein a differential pressure protection mechanism is further provided in said pressurized capsule, comprising:

the pressure difference sensor is arranged in the opening area of the pressure-bearing sealed cabin and is used for detecting the pressure difference between the opening area and the outside of the pressure-bearing sealed cabin;

a vent tube for communication between the open area and the atmosphere;

the electromagnetic valve is connected with the vent pipe and is used for controlling the on-off of the vent pipe;

and a control means for controlling the opening and closing of the electromagnetic valve based on the pressure difference detected by the pressure difference sensor.

7. The underwater paint spray device for a ship of claim 1, wherein the propulsion system includes:

the water jet propellers comprise a plurality of water jet propellers which are arranged on the outer wall of the pressure-bearing sealed cabin; each water-jet propeller is provided with a direction driver which is used for changing the water-jet direction of the water-jet propeller so as to push the whole device to move forward, backward, dive, float upwards or rotate;

the inclination angle sensor is arranged on the carrier or in a pressure-bearing sealed cabin and is used for detecting the rotation angle of the device;

the travel distance measuring instrument is arranged on the carrying carrier or in a pressure-bearing sealed cabin and is used for detecting the travel distance of the carrying carrier along the surface of the ship body when the decontamination system is operated; and when the travel distance reaches the size of a hatch of the pressure-bearing sealed cabin, controlling the carrier to stop the current travel process through the water jet propeller, and starting the paint spraying system to execute the paint spraying process.

8. The underwater desmear painting device for marine vessels of claim 1, wherein said desmear system comprises:

the high-pressure jet cavitation spray head comprises a plurality of high-pressure jet cavitation spray heads, each spray head is provided with two water outlets in opposite directions, one water outlet is used for spraying high-pressure cavitation water to the surface of the ship body, and the other water outlet is used for spraying the high-pressure cavitation water to generate reaction force;

the spray head oscillator is arranged on the carrying carrier and is used for controlling the high-pressure jet cavitation spray head to oscillate;

and the high-pressure water pump is arranged on the carrying carrier and is used for pumping seawater and pumping the seawater to the high-pressure jet cavitation spray head.

9. The underwater desmear painting device for ships according to any one of claims 1 to 8, wherein a polishing system is further mounted on the carrier at a position between the desmear system and the pressure-bearing sealed cabin; the polishing system comprises:

the rolling brush is arranged on the carrying carrier and is provided with a flexible rotating shaft, and the needle brush is distributed on the flexible rotating shaft;

and the watertight motor is arranged on the carrying carrier, is connected with the flexible rotating shaft through a transmission piece, and is used for driving the rolling brush to rotate so as to polish the surface of the ship body.